[go: up one dir, main page]

WO2019113733A1 - Procédé de commande de transfert, terminal de commande et véhicule aérien sans pilote - Google Patents

Procédé de commande de transfert, terminal de commande et véhicule aérien sans pilote Download PDF

Info

Publication number
WO2019113733A1
WO2019113733A1 PCT/CN2017/115455 CN2017115455W WO2019113733A1 WO 2019113733 A1 WO2019113733 A1 WO 2019113733A1 CN 2017115455 W CN2017115455 W CN 2017115455W WO 2019113733 A1 WO2019113733 A1 WO 2019113733A1
Authority
WO
WIPO (PCT)
Prior art keywords
communication network
drone
control terminal
switching
communicate
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/115455
Other languages
English (en)
Chinese (zh)
Inventor
尹小俊
郑德恩
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to PCT/CN2017/115455 priority Critical patent/WO2019113733A1/fr
Priority to CN201780028261.6A priority patent/CN109155927A/zh
Publication of WO2019113733A1 publication Critical patent/WO2019113733A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/02—Arrangements for optimising operational condition
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/0005—Control or signalling for completing the hand-off
    • H04W36/0011—Control or signalling for completing the hand-off for data sessions of end-to-end connection
    • H04W36/0016—Hand-off preparation specially adapted for end-to-end data sessions
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/0005—Control or signalling for completing the hand-off
    • H04W36/0083—Determination of parameters used for hand-off, e.g. generation or modification of neighbour cell lists
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/16—Performing reselection for specific purposes
    • H04W36/18—Performing reselection for specific purposes for allowing seamless reselection, e.g. soft reselection
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/14—Reselecting a network or an air interface

Definitions

  • the invention relates to the technical field of drones, in particular to a switching control method, a control terminal and a drone.
  • the wireless ad hoc network is often used to control the drone, which is characterized by low cost, easy deployment, and convenient networking.
  • remote controls and drones typically use a 2.4 GHz or 5.8 GHz band to establish a connection directly.
  • the wireless ad hoc network may fail.
  • the flight of the drone is special, and it is necessary to keep the aircraft controllable at all times. Therefore, in industrial applications, it is often switched to a public wireless communication network to ensure that the drone is controllable.
  • the handover between the wireless ad hoc network and the public wireless communication network is based on the network selection mechanism of the Access Network Discovery and Selection Function (ANDSF). Specifically, based on the interface above the network layer, the link selection is completed according to the user's preference, the location of the drone, and the link quality.
  • ANDSF Access Network Discovery and Selection Function
  • the link selection time based on the network layer is long, including the reconstruction process of the physical layer, the data link layer, and the network layer, and the switching time is long.
  • the aircraft may be uncontrollable, the aircraft position is inaccurate, etc., and in serious cases, the bomber and the wounding event may occur.
  • the invention provides a switching control method, a control terminal and a drone, which shortens the switching time of the control terminal and the drone to switch from the first communication network to the second communication network, and improves the connection between the control terminal and the drone. Seamless switching effect.
  • an embodiment of the present invention provides a handover control method, which is applied to a control terminal, and includes:
  • first handover information to the first drone by using at least one of a first physical channel and a second communication network allocated for the first drone in the first communication network, where the first handover information is used to indicate the first
  • the drone switches from the first communication network to the second communication network to communicate with the control terminal, wherein the control terminal and the first drone are pre-attached to the second communication network and complete the handshake.
  • an embodiment of the present invention provides a handover control method, which is applied to a drone, and includes:
  • the first handover information sent by the control terminal where the first physical channel is allocated by the control terminal for the UAV in the first communication network, and the first handover information is used by the first handover information.
  • the drone Instructing the drone to switch from the first communication network to the second communication network to communicate with the control terminal, wherein the control terminal and the drone are pre-attached to the second communication network and complete the handshake,
  • an embodiment of the present invention provides a handover control method, which is applied to a drone, and includes:
  • the first communication network is switched to the second communication network to communicate with the control terminal, wherein the control terminal and the drone are pre-attached to the second communication network and complete the handshake.
  • an embodiment of the present invention provides a control terminal, including: a memory, a processor, and a transceiver.
  • the processor the calling program code, when the program code is executed, is used to perform the following operations:
  • the transceiver is configured to: when the processor determines that the first drone is out of synchronization in the first communication network, the first physical channel and the second communication network allocated by the processor to the first drone in the first communication network At least one of the first handoff information is sent to the first drone, and the first switching information is used to indicate The first drone switches from the first communication network to the second communication network to communicate with the control terminal, wherein the control terminal and the first drone are pre-attached to the second communication network and complete the handshake.
  • an embodiment of the present invention provides a drone, including: a memory, a processor, and a transceiver.
  • a transceiver configured to receive, by using at least one of the first physical channel and the second communication network, first switching information that is sent by the control terminal, where the first physical channel is allocated by the control terminal to the drone in the first communications network, The first switching information is used to instruct the drone to switch from the first communication network to the second communication network to communicate with the control terminal, wherein the control terminal and the drone are pre-attached to the second communication network and complete the handshake.
  • the processor the calling program code, when the program code is executed, is used to perform the following operations:
  • an embodiment of the present invention provides a drone, including: a memory, a processor, and a transceiver.
  • the processor the calling program code, when the program code is executed, is used to perform the following operations:
  • the first communication network is switched to the second communication network to communicate with the control terminal, wherein the control terminal and the drone are pre-attached to the second communication network and complete the handshake.
  • the invention provides a switching control method, a control terminal and a drone. If the first drone is out of synchronization in the first communication network, the control terminal switches from the first communication network to the second communication network to communicate with the first drone, and is the first in the first communication network. The at least one of the first physical channel and the second communication network allocated by the human machine transmits the first handover information to the first drone.
  • the control terminal and the first drone are pre-attached to the second communication network and complete the handshake. According to the handover control method provided by the present invention, since the control terminal and the drone are pre-attached to the second communication network and complete the handshake, the control terminal and the drone can directly switch to the established communication link in the second communication network. Communication shortens the switching time and improves the seamless switching between the control terminal and the drone.
  • FIG. 1 is a system architecture diagram of an unmanned flight system according to the present invention.
  • FIG. 2 is a message interaction diagram of a handover control method according to Embodiment 1 of the present invention.
  • FIG. 3 is a message interaction diagram of a handover control method according to Embodiment 2 of the present invention.
  • FIG. 4 is a message interaction diagram of a handover control method according to Embodiment 3 of the present invention.
  • FIG. 5 is a flowchart of a handover control method according to Embodiment 4 of the present invention.
  • FIG. 6 is a schematic structural diagram of a control terminal according to an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of a drone according to an embodiment of the present invention.
  • the unmanned flight system may include a control terminal and a drone, and the present invention does not limit the number and type of control terminals and drones.
  • the drones can be small drones, large drones, rotary wing drones, and the like.
  • the control terminal and the drone can communicate via a communication network.
  • the present invention does not limit the type of communication network.
  • the communication network can be a wireless ad hoc network, for example, using 2.4 GHz or 5.8 GHz Band communication, Wireless Fidelity (WIFI), etc.
  • the communication network may also be a public wireless communication network, for example, a Global System of Mobile communication (GSM) network, a Code Division Multiple Access (CDMA) network, and a Wideband Code Division Multiple Access (Wideband Code Division Multiple). Access, WCDMA) network, Time Division-Synchronous Code Division Multiple Access (TD-SCDMA) network, Long Term Evolution (LTE) network, 5G network, and the like.
  • GSM Global System of Mobile communication
  • CDMA Code Division Multiple Access
  • Wideband Code Division Multiple Access Wideband Code Division Multiple Access
  • WCDMA Time Division-Synchronous Code Division Multiple Access
  • LTE Long Term Evolution
  • 5G 5G network
  • the control terminal and the drone can be switched between different communication networks to achieve continuous communication between the control terminal and the drone.
  • a control terminal 11, a drone 12, and a drone 13 are included.
  • the control terminal 11 and the drone 12 can directly establish a connection through the self-organizing network for communication.
  • the control terminal 11 and the drone 13 can establish a connection through a public wireless communication network for communication. Specifically, the control terminal 11 and the drone 13 can establish a connection through the base station 14, the server 16, and the base station 15 for communication. It should be noted that the present invention does not specifically limit how to establish a communication link between the control terminal and the drone.
  • FIG. 2 is a message interaction diagram of a handover control method according to Embodiment 1 of the present invention. As shown in FIG. 2, the handover control method provided in this embodiment may include:
  • the control terminal determines whether the first drone is out of synchronization in the first communication network.
  • control terminal and the first drone communicate through the first communication network.
  • control terminal determines whether the first drone is out of synchronization in the first communication network. If the first drone is out of synchronization in the first communication network, then S102 is performed.
  • the method for determining whether the first drone is out of synchronization in the first communication network is not limited, and the method for determining whether the drone is out of synchronization in the existing communication process may be used.
  • control terminal determines whether the first drone is out of synchronization in the first communication network, and may include:
  • the control terminal determines, at the physical layer of the first communication network, whether the first drone is out of synchronization in the first communication network.
  • control terminal may measure related parameters of the physical layer in the first communication network, and determine, according to the related parameters, whether the first drone is out of synchronization in the first communication network.
  • Physical layer The relevant parameters determine whether the first drone is out of step in the first communication network, and the data processing speed is fast, which improves the speed of judging whether the drone is out of step.
  • the related parameter may include at least one of the following: a signal to noise ratio, a bit error rate, a reference signal receiving power (RSRP), a reference signal receiving quality (RSRQ), and a receiving signal.
  • the Received Signal Code Power (RSCP) and the Interference Signal Code Power (ISCP) are different depending on the type of the first communication network.
  • the controlling terminal determines, by the physical layer of the first communications network, whether the first drone is out of synchronization in the first communications network, and may include: if the first drone is incorrect in the first preset time period When the code rate is greater than the first preset threshold, it is determined that the first drone is out of synchronization in the first communication network.
  • the controlling terminal determines, by the physical layer of the first communications network, whether the first drone is out of synchronization in the first communications network, and may include: if the first drone is in the second preset time period If the error rate is greater than the second preset threshold and the signal to noise ratio is greater than the third preset threshold, determining that the first drone is out of synchronization in the first communication network.
  • the specific values of the first preset time period, the second preset time period, the first preset threshold, the second preset threshold, and the third preset threshold are not limited in this embodiment.
  • the control terminal can also adopt other existing methods that can determine whether the drone is out of synchronization in the communication network at the physical layer of the first communication network.
  • the control terminal switches from the first communication network to the second communication network to communicate with the first drone.
  • the control terminal sends the first handover information to the first drone by using at least one of the first physical channel and the second communication network allocated for the first drone in the first communication network.
  • the first switching information is used to instruct the first drone to switch from the first communication network to the second communication network to communicate with the control terminal.
  • the control terminal and the first drone are pre-attached to the second communication network and complete the handshake.
  • control terminal and the first drone have been attached to the second communication network and complete the handshake, that is, the control terminal and the first drone have established a communication link in the second communication network and maintained A low frequency link heartbeat.
  • the control terminal and the first drone need to switch to the second communication network, the registration time is saved, and communication can be directly performed through the established communication link.
  • the specific implementation manner in which the control terminal and the first drone are attached to the second communication network is not limited in this embodiment, and may be different according to the type of the second communication network. Some communication network attachment processes.
  • the specific implementation manner of the handshake between the control terminal and the first drone is not limited in this embodiment, and is different according to the handshake protocol used.
  • the so-called handshake refers to the process of establishing communication parameters between the receiving device and the transmitting device after the communication link is established and before the information transmission starts.
  • the first drone If the first drone is out of synchronization in the first communication network, it indicates that the control terminal and the first drone have been unable to communicate normally through the first communication network, and the communication network needs to be switched to continue communication.
  • the control terminal switches from the first communication network to the second communication network and notifies the first drone to also switch from the first communication network to the second communication network.
  • the control terminal may send the first handover information to the first drone through the first physical channel allocated for the first drone in the first communication network. Since the first handover information is directly sent to the first drone through the first physical channel, the transmission time of the first handover information is shortened. The first drone quickly receives the first switching information through the first physical channel, thereby quickly switching the communication network.
  • control terminal may send the first handover information to the first drone through the second communication network. Since the control terminal and the first drone are pre-attached to the second communication network and complete the handshake, the control terminal can directly pass through the established communication link with the first drone in the second communication network. The drone transmits the first switching information, which shortens the transmission time of the first switching information. The first drone quickly receives the first switching information through the second communication network, thereby quickly switching the communication network.
  • control terminal may send the first handover information to the first drone by using the first physical channel allocated for the first drone in the first communication network, and at the same time, the control terminal may pass the second The communication network transmits the first handover information to the first drone.
  • the control terminal simultaneously transmits the first switching information to the first drone through the first physical channel and the second communication network, shortening the transmission time of the first switching information, and improving the transmission reliability of the first switching information.
  • the first drone receives the first handover information sent by the control terminal by using at least one of the first physical channel and the second communication network of the first communication network.
  • the first physical channel is allocated by the control terminal to the first drone in the first communication network.
  • Scenario 1 The first drone receives the first cut by the control terminal in the first communication network for the first physical channel allocated by the first drone. Change information. At this time, the first drone can immediately switch from the first communication network to the second communication network, shortening the switching time.
  • Scenario 2 The first drone receives the first switching information through the second communication network. At this time, the first drone can immediately switch from the first communication network to the second communication network, thereby shortening the switching time.
  • Scenario 3 The first drone receives the first switching information through the first physical channel and the second communication network. At this time, the first drone can immediately switch from the first communication network to the second communication network, shortening the switching time.
  • the first drone switches from the first communication network to the second communication network according to the first handover information to communicate with the control terminal.
  • the first drone and the control terminal both switch from the first communication network to the second communication network, so that communication can continue in the second communication network.
  • the low-frequency link heartbeat is maintained between the control terminal and the first drone through the second communication network. Therefore, when the first drone is switched from the first communication network to the second communication network, the physical layer, the data link layer, and the network layer are not required to be reconstructed, but can be directly switched to the second communication network.
  • the communication link communicates. Compared with the prior art, the switching time is shortened, the seamless switching effect between the control terminal and the drone is improved, and the communication continuity between the control terminal and the drone is ensured.
  • the control terminal when the control terminal determines that the first drone is out of synchronization in the first communication network, the control terminal allocates the first to the first drone in the first communication network. At least one of the physical channel and the second communication network transmits the first handover information to the first drone, shortening the information transmission time. Since the control terminal and the first drone are pre-attached to the second communication network and complete the handshake, the communication link that has been established in the second communication network can be directly switched for communication, the switching time is shortened, and the control terminal is improved. Seamless switching between man and machine.
  • Scene 4 The first drone does not receive the first switching information. At this time, since the first drone cannot communicate normally with the control terminal through the first communication network, the first drone will switch from the first communication network to the second communication network.
  • the types of the first communication network and the second communication network are not limited, and are set as needed.
  • the first communication network may be an ad hoc communication network.
  • the second communication network may be a public wireless communication network.
  • This embodiment does not limit the type of the public wireless communication network, and may be, for example, a GSM network, a CDMA network, a WCDMA network, a TD-SCDMA network, or a 5G network.
  • the control terminal sends the first handover information to the first drone by using the first physical channel allocated for the first drone in the first communication network, which may include:
  • control terminal sends the first handover information to the first drone through the second communication network, which may include:
  • the specific values of the first sending period and the second sending period are not limited in this embodiment.
  • the first communication network is an ad hoc communication network and the second communication network is a public wireless communication network
  • the first sending period may be smaller than the second sending period.
  • the control terminal sends a message to the first drone through the ad hoc communication network, and the information transmission time is shorter than the control terminal transmits the information to the first drone through the public wireless communication network, and the first drone receives the message.
  • the success rate of information is higher. Therefore, the control terminal can send the first switching information more frequently through the ad hoc communication network, shorten the sending and transmitting time of the first switching information, and improve the success rate of the first drone receiving the first switching information.
  • the number of the first drone is not limited in this embodiment. That is to say, the control terminal can simultaneously communicate with the at least one first drone through the first communication network. For each first drone, when the control terminal determines that the first drone is out of synchronization in the first communication network, the control terminal and the first drone may perform the handover control method provided in this embodiment.
  • the embodiment provides a handover control method, including: controlling, by the terminal, whether the first drone is out of synchronization in the first communication network, and if the first drone is out of synchronization in the first communication network, the control is performed.
  • the terminal switches from the first communication network to the second communication network to communicate with the first drone, and the control terminal passes at least the first physical channel and the second communication network allocated for the first drone in the first communication network Transmitting, by the first drone, first switching information, where the first drone transmits the first one of the first physical channel and the second communication network of the first communication network Switching information, the first drone switches from the first communication network to the second communication network according to the first handover information to communicate with the control terminal.
  • the switching control method provided by the embodiment shortens the switching time of the control terminal and the drone to switch from the first communication network to the second communication network, and improves the seamless switching effect between the control terminal and the drone.
  • FIG. 3 is a message interaction diagram of a handover control method according to Embodiment 2 of the present invention.
  • the handover control method provided in this embodiment relates to a scenario in which the control terminal and the first drone are switched from the first communication network to the second communication network on the basis of the first embodiment.
  • the handover control method provided in this embodiment may further include:
  • control terminal can communicate with the first drone through the first communication network, switch from the second communication network to the first communication network to communicate with the first drone.
  • control terminal and the first drone communicate through the second communication network.
  • control terminal determines whether communication with the first drone can be performed through the first communication network. If it is possible to communicate with the first drone via the first communication network, the control terminal switches from the second communication network to the first communication network to communicate with the first drone.
  • control terminal determines that the first drone can communicate with the first drone, and the method includes:
  • the control terminal transmits a synchronization signal to the first drone through the first communication network.
  • the control terminal receives the response information sent by the first drone through the first communication network.
  • the first communication network sends the response information to the control terminal.
  • the synchronization signal provides a signal for the same time reference for the device that needs to process the information synchronously.
  • the synchronization signal is typically used in the second network for the calculation of the time delay.
  • the second network utilizes the synchronization signal of the first network and synchronizes the time to system time.
  • the implementation manner of the synchronization signal is not limited, and the synchronization signal in the existing network may be different according to the type of the first communication network.
  • the response information corresponds to the synchronization signal, and the implementation manner of the response information in this embodiment is not limited.
  • the control terminal sends the second handover information to the first drone through at least one of the second communication network and the second physical channel allocated for the first drone in the first communication network.
  • the second switching information is used to instruct the first drone to switch from the second communication network to the first communication network to communicate with the control terminal.
  • control terminal can communicate with the first drone through the first communication network, it indicates that the control terminal and the first drone can communicate normally through the first communication network, and the communication network needs to be switched.
  • the control terminal switches from the second communication network to the first communication network and notifies the first drone to also switch from the second communication network to the first communication network.
  • control terminal may send the second handover information to the first drone through the second communication network.
  • control terminal may send the second handover information to the first drone through the second physical channel allocated for the first drone in the first communication network. Since the control terminal directly transmits the second switching information to the first drone through the second physical channel of the first communication network, the transmission time of the second switching information is shortened. The first drone quickly receives the second switching information through the second physical channel, thereby quickly switching the communication network.
  • control terminal may send the second handover information to the first drone through the second physical channel allocated for the first drone in the first communication network, and at the same time, the control terminal may pass the second The communication network sends the second handover information to the first drone.
  • the transmission time of the second switching information is shortened, and the transmission reliability of the second switching information is improved.
  • the first drone receives the second handover information sent by the control terminal by using at least one of the second physical channel and the second communication network of the first communication network.
  • the second physical channel is allocated by the control terminal to the first drone in the first communication network.
  • Scenario 1 The first drone receives the second switching information by using the second physical channel allocated by the control terminal for the first drone in the first communication network. At this time, the first drone can immediately switch from the second communication network to the first communication network, shortening the switching time.
  • Scenario 2 The first drone receives the second switching information through the second communication network. At this time, the first drone can immediately switch from the second communication network to the first communication network.
  • Scenario 3 The first drone receives the second switching information through the second physical channel and the second communication network. At this time, the first drone can immediately switch from the second communication network to the first communication network, shortening the switching time.
  • the first drone switches from the second communication network to the first communication network according to the second handover information.
  • Network to communicate with the control terminal.
  • the first drone and the control terminal are both switched from the second communication network to the first communication network, so that communication can be continued in the first communication network.
  • the control terminal when the control terminal can communicate with the first drone through the first communication network, the control terminal allocates the first drone through the second communication network and in the first communication network. At least one of the second physical channels transmits the second switching information to the first drone, shortening the information transmission time, thereby shortening the switching time, and improving the seamless switching effect between the control terminal and the drone.
  • Scene 4 The first drone does not receive the second switching information. At this time, since the control terminal has switched from the second communication network to the first communication network, the first drone will be out of step in the second communication network. The control terminal determines that the first drone is out of synchronization in the second communication network, and then the control terminal switches from the first communication network to the second communication network to communicate with the first drone.
  • control terminal sends the second switching information to the first drone by using the second physical channel allocated for the first unmanned device in the first communications network, which may include:
  • control terminal sends the second handover information to the first drone through the second communication network, which may include:
  • the specific values of the third sending period and the fourth sending period are not limited, and are set as needed.
  • the third transmission period may be shorter than the fourth transmission period. The transmission and transmission time of the second switching information is shortened, and the success rate of the first drone receiving the second switching information is improved.
  • the embodiment provides a handover control method, including: if the control terminal determines that the first communication network can communicate with the first drone, the second communication network switches to the first communication network to a UAV communication, the control terminal transmitting the second handover information to the first UAV through the second communication network and at least one of the second physical channels allocated to the first UAV in the first communication network, Receiving, by the drone, the second handover information sent by the control terminal by using at least one of the second physical channel and the second communication network of the first communication network, the first drone switching from the second communication network according to the second handover information To the first communication network to communicate with the control terminal.
  • the switching control method provided by the embodiment shortens the switching time of the control terminal and the drone to switch from the second communication network to the first communication network, and improves the seamless switching effect between the control terminal and the drone.
  • FIG. 4 is a message interaction diagram of a handover control method according to Embodiment 3 of the present invention.
  • the handover control method provided in this embodiment is related to the scenario in which the control terminal communicates with the first drone while communicating with the second drone through the second communication network, on the basis of the first embodiment or the second embodiment.
  • the handover control method provided in this embodiment may further include:
  • the control terminal determines whether communication with the second drone can be performed through the first communication network.
  • the second drone is a drone that communicates with the control terminal through the second communication network.
  • control terminal switches from the second communication network to the first communication network to communicate with the second drone.
  • the control terminal sends the third handover information to the second drone through at least one of the second communication network and the third physical channel allocated for the second drone in the first communication network.
  • the third switching information is used to instruct the second drone to switch from the second communication network to the first communication network to communicate with the control terminal.
  • the second drone receives the third handover information sent by the control terminal by using at least one of the third physical channel and the second communication network of the first communication network.
  • the third physical channel is allocated by the control terminal to the second drone in the first communication network.
  • the second drone switches from the second communication network to the first communication network according to the third handover information to communicate with the control terminal.
  • the second drone is similar to the first drone in the second embodiment S201 to S204, and the third physical channel is similar to the second physical channel in the second embodiment.
  • the third switching information and the second embodiment are in the second embodiment.
  • the principle of the second switching information is similar.
  • the principles of S301 to S305 are similar to the principles of S201 to S204, and are not described here.
  • the number of the first drone and the second drone is not limited in this embodiment. That is to say, the control terminal can simultaneously communicate with at least one first drone, and at the same time, the control terminal can simultaneously communicate with the at least one second drone through the second communication network. For each second drone, when the control terminal determines that the second drone can communicate with the second drone, the control terminal and the second drone can perform the handover control method provided by the embodiment.
  • the embodiment provides a switching control method, which shortens the switching time of the control terminal and the drone to switch from the second communication network to the first communication network, and improves the seamless switching effect between the control terminal and the drone.
  • FIG. 5 is a flowchart of a handover control method according to Embodiment 4 of the present invention.
  • the execution entity may be a drone.
  • the handover control method provided in this embodiment may include:
  • the UAV and the control terminal communicate through the first communication network.
  • the unattended machine determines whether the downlink is out of step in the first communication network. If the drone is out of synchronization in the first communication network, then S402 is performed.
  • determining whether the downlink is out of synchronization in the first communication network may include:
  • the physical layer of the first communication network determines whether the downlink is out of synchronization in the first communication network.
  • S402. Switch from the first communication network to the second communication network to communicate with the control terminal.
  • control terminal and the drone are pre-attached to the second communication network and complete the handshake.
  • the drone switches from the first communication network to the second communication network. Since the control terminal and the drone are pre-attached to the second communication network and complete the handshake, the low-frequency link heartbeat is maintained between the control terminal and the drone through the second communication network. Therefore, when the UAV switches from the first communication network to the second communication network, the physical layer, the data link layer, and the network layer are not required to be reconstructed, but the communication can be directly switched to the established communication in the second communication network. The link communicates. Compared with the prior art, the information notification time and the switching time are shortened, and the control terminal and the drone are improved. The seam switching effect ensures communication continuity between the control terminal and the drone.
  • the switching control method provided in this embodiment may further include:
  • the response information is sent to the control terminal through the first communication network.
  • the switching control method provided in this embodiment may further include:
  • the second handover information sent by the control terminal is received by at least one of the second physical channel and the second communication network of the first communication network.
  • the second physical channel is allocated by the control terminal to the UAV in the first communication network, and the second switching information is used to instruct the UAV to switch from the second communication network to the first communication network to communicate with the control terminal.
  • the embodiment provides a handover control method, including: determining whether downlink is out of synchronization in the first communication network, and switching from the first communication network to the second communication network to communicate with the control terminal.
  • the switching control method provided in this embodiment shortens the switching time of the control terminal and the drone, and improves the seamless switching effect between the control terminal and the drone.
  • FIG. 6 is a schematic structural diagram of a control terminal according to an embodiment of the present invention.
  • the control terminal provided in this embodiment is used to perform the operations performed by the control terminal in any of the foregoing method embodiments in FIG. 2 to FIG.
  • the control terminal provided in this embodiment may include: a memory 21, a processor 22, and a transceiver 23.
  • the memory 21, the processor 22 and the transceiver 23 can be connected by a bus.
  • Memory 21 can include read only memory and random access memory and provides instructions and data to processor 22. A portion of the memory 21 may also include a non-volatile random access memory.
  • the transceiver 23 is used to support the reception and transmission of signals between the control device and the drone.
  • the information sent by the drone can be received and processed by the processor 22.
  • the information generated by the processor 22 can also be sent to the drone.
  • Transceiver 23 can include separate transmitters and receivers.
  • the processor 22 can be a central processing unit (CPU), and the processor 22 can also be other general purpose processors, digital signal processors (Digital Signal) Processor, DSP), Application Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, etc.
  • the general purpose processor may be a microprocessor or the processor or any conventional processor or the like.
  • the memory 21 is configured to store program code.
  • the processor 22 the calling program code, when the program code is executed, is used to perform the following operations:
  • the first drone is out of synchronization in the first communication network, then switching from the first communication network to the second communication network to communicate with the first drone.
  • the transceiver 23 is configured to, when the processor 22 determines that the first drone is out of synchronization in the first communication network, the first physical channel allocated by the processor 22 to the first drone in the first communication network. At least one of the two communication networks transmits first handover information to the first drone, the first handover information being used to instruct the first drone to switch from the first communication network to the second communication network to communicate with the control terminal.
  • the control terminal and the first drone are pre-attached to the second communication network and complete the handshake.
  • the transceiver 23 is specifically configured to:
  • the transceiver 23 is specifically configured to:
  • the processor 22 is further configured to:
  • the transceiver 23 is further configured to allocate, by the second communication network and the processor 22, the first drone in the first communication network when the processor 22 determines that the first communication network can communicate with the first drone. At least one of the second physical channels transmits second handover information to the first drone, and the second handover information is used to instruct the first drone to switch from the second communication network to the first communication network to communicate with the control terminal.
  • the transceiver 23 is specifically configured to:
  • the transceiver 23 is specifically configured to:
  • the processor 22 is further configured to:
  • the processor 22 is specifically configured to:
  • a synchronization signal is transmitted to the first drone through the first communication network.
  • the response information sent by the first drone is received through the first communication network.
  • the processor 22 is further configured to:
  • the transceiver 23 is further configured to allocate, by the second communication network and the processor 22, the second drone in the first communication network when the processor 22 determines that the first communication network can communicate with the second drone
  • At least one of the third physical channels transmits third switching information to the second drone, the third switching information is used to instruct the second drone to switch from the second communication network to the first communication network to communicate with the control terminal.
  • the processor 22 is specifically configured to:
  • the physical layer of the first communication network determines whether the first drone is out of synchronization in the first communication network.
  • the second communication network is a public wireless communication network.
  • control terminal provided in this embodiment is used to perform the operations performed by the control terminal in any of the foregoing method embodiments in FIG. 2 to FIG. 4, and the technical principles and technical effects thereof are similar, and details are not described herein again.
  • FIG. 7 is a schematic structural diagram of a drone according to an embodiment of the present invention. Unmanned by this embodiment For performing the operations performed by the first drone in the foregoing method embodiment of any of the foregoing FIG. 2 to FIG. 3, or for performing the operations performed by the second drone in the foregoing method embodiment of FIG. 4, or for performing The operation performed by the drone in the above embodiment of the method of FIG. 5.
  • the drone provided in this embodiment may include: a memory 31, a processor 32, and a transceiver 33.
  • the memory 31, the processor 32 and the transceiver 33 can be connected by a bus.
  • Memory 31 can include read only memory and random access memory and provides instructions and data to processor 32. A portion of the memory 31 may also include a non-volatile random access memory.
  • the transceiver 33 is used to support the reception and transmission of signals between the drone and the control device. After receiving the information sent by the control device, it is processed by the processor 32. The information generated by the processor 32 can also be sent to the control device. Transceiver 33 can include separate transmitters and receivers.
  • Processor 32 may be a CPU, which may also be other general purpose processors, DSPs, ASICs, FPGAs or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like.
  • the general purpose processor may be a microprocessor or the processor or any conventional processor or the like.
  • the memory 31 is configured to store program code.
  • the transceiver 33 is configured to receive, by using at least one of the first physical channel and the second communication network, first switching information that is sent by the control terminal, where the first physical channel is allocated by the control terminal to the UAV in the first communications network.
  • the first switching information is used to instruct the drone to switch from the first communication network to the second communication network to communicate with the control terminal.
  • the control terminal and the drone are pre-attached to the second communication network and complete the handshake.
  • the processor 32 the calling program code, is used to perform the following operations when the program code is executed:
  • the transceiver 33 is further configured to:
  • the response information is sent to the control terminal through the first communication network.
  • the transceiver 33 is further configured to:
  • the processor 32 is further configured to switch from the second communication network to the first communication network according to the second handover information to communicate with the control terminal.
  • the memory 31 is configured to store program code.
  • the processor 32 the calling program code, is used to perform the following operations when the program code is executed:
  • the first communication network is switched to the second communication network to communicate with the control terminal, wherein the control terminal and the drone are pre-attached to the second communication network and complete the handshake.
  • the transceiver 33 is configured to:
  • the response information is sent to the control terminal through the first communication network.
  • the transceiver 33 is further configured to:
  • the second handover information sent by the control terminal where the second physical channel is allocated by the control terminal for the UAV in the first communication network, and the second handover information is used by the control terminal.
  • the drone is instructed to switch from the second communication network to the first communication network to communicate with the control terminal.
  • the processor 32 is further configured to switch from the second communication network to the first communication network according to the second handover information to communicate with the control terminal.
  • the processor 32 is specifically configured to:
  • the physical layer of the first communication network determines whether the downlink is out of synchronization in the first communication network.
  • the unmanned aerial vehicle provided in this embodiment is used to perform the operations performed by the first drone in the method embodiment of the foregoing FIG. 2 to FIG. 3, or to perform the second drone execution in the method embodiment of FIG. 4
  • the operation of the UAV in the above-described method embodiment of FIG. 5 is performed.
  • the technical principle and technical effect are similar, and will not be described here.
  • the aforementioned program can be stored in a computer readable storage medium.
  • the program when executed, performs the steps including the foregoing method embodiments; and the foregoing storage medium includes various media that can store program codes, such as a ROM, a RAM, a magnetic disk, or an optical disk.

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

La présente invention concerne un procédé de commande de transfert, un terminal de commande et un véhicule aérien sans pilote. Le procédé de commande de transfert comprend les étapes suivantes : si un premier véhicule aérien sans pilote est désynchronisé en liaison descendante dans un premier réseau de communication, alors un terminal de commande effectue un transfert du premier réseau de communication à un deuxième réseau de communication afin de communiquer avec le premier véhicule aérien sans pilote ; envoi de premières informations de transfert au moyen d'au moins l'un parmi un premier canal physique attribué au premier véhicule aérien sans pilote dans le premier réseau de communication et le deuxième réseau de communication, les premières informations de transfert étant utilisées pour ordonner au premier véhicule aérien sans pilote d'effectuer un transfert du premier réseau de communication au deuxième réseau de communication afin de communiquer avec le terminal de commande ; le terminal de commande et le premier véhicule aérien sans pilote sont pré-joints au deuxième réseau de communication et mène à bien la prise de contact. Le procédé de commande de transfert selon la présente invention raccourcit le temps de transfert du terminal de commande et du véhicule aérien sans pilote depuis le premier réseau de communication vers le deuxième réseau de communication, améliorant l'effet de transfert sans coupure entre le terminal de commande et le véhicule aérien sans pilote.
PCT/CN2017/115455 2017-12-11 2017-12-11 Procédé de commande de transfert, terminal de commande et véhicule aérien sans pilote Ceased WO2019113733A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2017/115455 WO2019113733A1 (fr) 2017-12-11 2017-12-11 Procédé de commande de transfert, terminal de commande et véhicule aérien sans pilote
CN201780028261.6A CN109155927A (zh) 2017-12-11 2017-12-11 切换控制方法、控制终端和无人机

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/115455 WO2019113733A1 (fr) 2017-12-11 2017-12-11 Procédé de commande de transfert, terminal de commande et véhicule aérien sans pilote

Publications (1)

Publication Number Publication Date
WO2019113733A1 true WO2019113733A1 (fr) 2019-06-20

Family

ID=64803843

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/115455 Ceased WO2019113733A1 (fr) 2017-12-11 2017-12-11 Procédé de commande de transfert, terminal de commande et véhicule aérien sans pilote

Country Status (2)

Country Link
CN (1) CN109155927A (fr)
WO (1) WO2019113733A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116545509A (zh) * 2023-05-30 2023-08-04 西安宇飞电子技术有限公司 一种无人机蜂群网络通信系统及其控制方法

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021035641A1 (fr) * 2019-08-29 2021-03-04 深圳市大疆创新科技有限公司 Procédé de commande, serveur distant, station de commande et support de stockage
CN112533133B (zh) * 2020-10-29 2023-08-08 泰斗微电子科技有限公司 双通道切换方法、无人机及控制终端
CN115767604B (zh) * 2022-11-17 2023-08-11 黑龙江大学 应用于无人机辅助通信的自适应信道模型切换方法
CN119497150A (zh) * 2024-11-25 2025-02-21 南京航空航天大学 低空智联网多模态通信动态切换与自适应压缩系统及方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101946542A (zh) * 2008-02-15 2011-01-12 摩托罗拉公司 用于多模式移动站的技术间切换的方法和装置
CN105430699A (zh) * 2015-11-18 2016-03-23 北京华信联创科技有限公司 Wlan网络中终端在ap间高速切换的方法、装置和系统
US20160300493A1 (en) * 2014-05-20 2016-10-13 Verizon Patent And Licensing Inc. Selection of networks for communicating with unmanned aerial vehicles
CN107380443A (zh) * 2017-09-08 2017-11-24 深圳市道通智能航空技术有限公司 无人机控制系统及实现方法、地面控制设备和中继站

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3346618B1 (fr) * 2014-02-10 2021-09-15 SZ DJI Technology Co., Ltd. Commutation de mode de communication adaptatif
EP2978258B1 (fr) * 2014-07-22 2017-03-08 Alcatel Lucent Remplacement d'une première station de base drone par une seconde station drone sans interruption de service
CN105228178B (zh) * 2015-08-31 2018-11-23 中国运载火箭技术研究院 一种基于无线通信的飞行器环境参数检测系统及检测方法
CN205265924U (zh) * 2016-01-05 2016-05-25 陈昊 一种无人飞行器
CN105682158A (zh) * 2016-01-05 2016-06-15 陈昊 一种无人飞行器的通信控制方法及装置
CN106028459B (zh) * 2016-05-17 2019-07-09 中国人民解放军海军航空大学 基于双重优先级的导航传感器网络mac协议实现方法
CN106716871A (zh) * 2016-11-28 2017-05-24 深圳市大疆创新科技有限公司 控制方法、遥控器及无人机
CN113099501A (zh) * 2017-01-17 2021-07-09 深圳市大疆创新科技有限公司 无人机、遥控器及其控制方法、遥控系统

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101946542A (zh) * 2008-02-15 2011-01-12 摩托罗拉公司 用于多模式移动站的技术间切换的方法和装置
US20160300493A1 (en) * 2014-05-20 2016-10-13 Verizon Patent And Licensing Inc. Selection of networks for communicating with unmanned aerial vehicles
CN105430699A (zh) * 2015-11-18 2016-03-23 北京华信联创科技有限公司 Wlan网络中终端在ap间高速切换的方法、装置和系统
CN107380443A (zh) * 2017-09-08 2017-11-24 深圳市道通智能航空技术有限公司 无人机控制系统及实现方法、地面控制设备和中继站

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116545509A (zh) * 2023-05-30 2023-08-04 西安宇飞电子技术有限公司 一种无人机蜂群网络通信系统及其控制方法

Also Published As

Publication number Publication date
CN109155927A (zh) 2019-01-04

Similar Documents

Publication Publication Date Title
US9572077B2 (en) Inter-RAT mobility of in-device coexistence
US11924905B2 (en) Method and apparatus for implementing radio resource control of multi-connectivity
US12127062B2 (en) Timing advance for rach-less backhaul handover
CN113647140A (zh) 向目标小区报告成功切换
US20170135104A1 (en) Dedicated backhaul for whole home coverage
WO2018010123A1 (fr) Procédé de communication, dispositif réseau et dispositifs terminaux
WO2019113733A1 (fr) Procédé de commande de transfert, terminal de commande et véhicule aérien sans pilote
JP2021517751A (ja) セカンダリセルを構成するための方法、装置及びコンピュータ記憶媒体
US20220061042A1 (en) Enhancing handover performance using radio resource control diversity
JP2019506804A (ja) ネットワーク制御ハンドオーバー及びｕｅ自律的ハンドオーバーのためのハイブリッド解決策
JP6547063B2 (ja) 装置間通信方法、装置、及びシステム
WO2022042532A1 (fr) Procédé, appareil et système d'acquisition de paramètres de transmission
WO2018029370A1 (fr) Procédé de système de télécommunication mobile
CN109842915A (zh) 一种通信方法和装置以及系统
CN104247550B (zh) 一种数据的传输方法、通信设备和通信系统
CN113873600B (zh) 侧行链路的切换方法、装置、终端、存储介质及程序产品
US10904767B2 (en) Frequency band sharing method, apparatus, and system
JPWO2020031358A1 (ja) ユーザ装置及び送信方法
CN113676922B (zh) 一种终端设备协作方法及装置
WO2019161563A1 (fr) Gestion d'informations smtc au niveau d'un équipement utilisateur
WO2025241576A1 (fr) Optimisation de la robustesse de la mobilité pour la mobilité déclenchée par couche 1/couche 2 conditionnelle d'un groupe de cellules secondaires
CN108476454A (zh) 一种基于微基站的链接操作方法及终端、基站
WO2025241540A1 (fr) Mobilité déclenchée par couche 1/couche 2 conditionnelle
WO2021062845A1 (fr) Procédé de communication et appareil de communication
CN114586466B (zh) 通信方法及装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17934562

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17934562

Country of ref document: EP

Kind code of ref document: A1