KR102398483B1 - Uav frequency allocation method and system for adaptive allocation of large-capacity links - Google Patents

Abstract

Disclosed are an unmanned aerial vehicle (UAV) frequency allocation method and system for adaptively allocating a large-capacity link. The UAV frequency allocation method includes the steps of: establishing, by ground control equipment for take-off and landing, a communication link with a UAV; controlling, by the ground control equipment for take-off and landing, the UAV through the communication link, to make the UAV take off; changing, by the ground control equipment for take-off and landing, the control of the communication link to ground control equipment for a mission; and allocating, by the ground control equipment for a mission, an additional frequency necessary for the UAV to perform a mission, and changing a transmission rate for the UAV according to the additional frequency.

Description

UAV FREQUENCY ALLOCATION METHOD AND SYSTEM FOR ADAPTIVE ALLOCATION OF LARGE-CAPACITY LINKS

The present invention relates to a method and system for allocating a frequency of an unmanned aerial vehicle, and more particularly, to a method and system for adaptively allocating a large-capacity link to an unmanned aerial vehicle performing a mission.

An unmanned aerial vehicle system may consist of an unmanned aerial vehicle, ground control equipment, and a communication link connecting the unmanned aerial vehicle and ground control equipment. At this time, in order for the ground control equipment to control the unmanned aerial vehicle through the communication link, a frequency for wireless communication is required. However, since the conventional unmanned aerial vehicle system receives and uses an independent frequency for each system, when the number of unmanned aerial vehicles to be operated increases, there is a high possibility of frequency saturation.

Accordingly, there is a need for a method for efficiently using limited frequency resources.

The present invention performs take-off and landing of an unmanned aerial vehicle using a communication link allocated with a minimum frequency in the ground control equipment for take-off and landing, and when the unmanned aerial vehicle performs a mission requiring large-capacity data communication, the ground control equipment for the mission A method and system for efficiently using a limited frequency resource by allocating an additional frequency to a communication link with and performing large-capacity data communication.

A method for allocating a frequency of an unmanned aerial vehicle according to an embodiment of the present invention includes the steps of: establishing, by a ground control equipment for take-off and landing, a communication link with an unmanned aerial vehicle; taking off, by the ground control equipment for takeoff and landing, controlling the unmanned aerial vehicle through the communication link; changing, by the ground control equipment for take-off and landing, control of the communication link to the ground control equipment for mission; and allocating, by the ground control equipment for a mission, an additional frequency necessary for the mission performance of the UAV, and changing a transmission rate for the UAV according to the additional frequency.

The step of establishing a communication link with the UAV of the method for allocating a frequency of an unmanned aerial vehicle according to an embodiment of the present invention includes: determining, by the ground control equipment for takeoff and landing, a minimum frequency and bandwidth necessary for controlling the unmanned aerial vehicle; transmitting a frequency occupation new assignment request message according to the frequency and bandwidth determined by the ground control device for take-off and landing to different ground control devices for take-off and landing and the ground control device for the mission; and when the different ground control equipment for take-off and landing and the ground control equipment for the mission approve a new frequency occupancy allocation request message, between the ground control equipment for take-off and landing and the unmanned aerial vehicle according to the frequency and bandwidth determined by the ground control equipment for take-off and landing establishing a communication link.

The step of establishing a communication link with the UAV of the method for allocating a frequency of an unmanned aerial vehicle according to an embodiment of the present invention includes: determining, by the ground control equipment for takeoff and landing, a minimum frequency and bandwidth necessary for controlling the unmanned aerial vehicle; transmitting a frequency occupancy new assignment request message according to the frequency and bandwidth determined by the ground control equipment for takeoff and landing to a frequency manager server; receiving, by the ground control equipment for take-off and landing, a new frequency occupation map generated according to the frequency occupation new allocation request message from the frequency manager server; and establishing, by the ground control device for takeoff and landing, a communication link between the ground control device for takeoff and landing and the unmanned aerial vehicle according to a new frequency occupancy map.

The step of changing the control right of the unmanned aerial vehicle frequency allocation method to the mission ground control equipment according to an embodiment of the present invention includes: checking the location of the unmanned aerial vehicle to determine whether the unmanned aerial vehicle has arrived at a control right change route point; transmitting, by the ground control equipment for take-off and landing, a frequency control change request message to different ground control equipment for take-off and landing and the ground control equipment for the mission when the unmanned aerial vehicle arrives at the control change route point; and when the different take-off and landing ground control equipment and the mission ground control equipment approve the frequency control change request message, the step of the take-off and landing ground control equipment changing control of the communication link to the mission ground control equipment. may include

The step of changing the control right of the unmanned aerial vehicle frequency allocation method to the mission ground control equipment according to an embodiment of the present invention includes: checking the location of the unmanned aerial vehicle to determine whether the unmanned aerial vehicle has arrived at a control right change route point; transmitting, by the ground control equipment for take-off and landing, a frequency control right change request message to a frequency manager server when the unmanned aerial vehicle arrives at a control right change route point; receiving, by the ground control equipment for take-off and landing, a new frequency occupancy map generated by changing the control right of the communication link to the mission ground control equipment from the frequency manager server; and changing, by the ground control equipment for take-off and landing, control of the communication link to the ground control equipment for mission according to the new frequency occupancy map.

The step of changing the transmission rate of the method for allocating a frequency of an unmanned aerial vehicle according to an embodiment of the present invention includes: checking a location of the unmanned aerial vehicle to determine whether the unmanned aerial vehicle has arrived at a mission start path point; determining, by the ground control equipment for the mission, a frequency and bandwidth required for the mission according to the mission of the UAV when the UAV arrives at the mission start path point; transmitting a frequency occupancy new assignment request message according to the frequency and bandwidth determined by the ground control equipment for the mission to the ground control equipment for different missions and the ground control equipment for takeoff and landing; and when the ground control equipment for different missions and the ground control equipment for takeoff and landing approve the request message for new allocation of frequency occupancy, between the ground control equipment for the mission and the unmanned aerial vehicle according to the frequency and bandwidth determined by the ground control equipment for the mission changing the frequency and data rate of the communication link.

The step of changing the transmission rate of the frequency allocation method of the unmanned aerial vehicle according to an embodiment of the present invention includes, after changing the frequency and the transmission rate of the communication link, a frequency occupancy release request message for the frequency used before the change in the communication link. It may further include the step of transmitting to the ground control equipment for different missions and the ground control equipment for takeoff and landing.

The step of changing the transmission rate of the method for allocating a frequency of an unmanned aerial vehicle according to an embodiment of the present invention includes: checking a location of the unmanned aerial vehicle to determine whether the unmanned aerial vehicle has arrived at a mission start path point; determining, by the ground control equipment for the mission, a frequency and bandwidth required for the mission according to the mission of the UAV when the UAV arrives at the mission start path point; transmitting a frequency occupancy new assignment request message according to the frequency and bandwidth determined by the ground control equipment for the mission to the frequency manager server; receiving, by the mission ground control equipment, a new frequency occupation map generated according to the frequency occupation new allocation request message from the frequency manager server; and changing, by the ground control equipment for the mission, a frequency and a transmission rate of a communication link between the ground control equipment for the mission and the unmanned aerial vehicle according to a new frequency occupation map.

The method of allocating a frequency of an unmanned aerial vehicle according to an embodiment of the present invention includes the steps of: determining, by the mission ground control equipment, whether the mission of the unmanned aerial vehicle is terminated; when the mission of the UAV is finished, the ground control equipment for the mission releasing the occupation of the additional frequency and reallocating the frequency assigned to the UAV; changing the transmission rate for the UAV according to the reassigned frequency by the ground control equipment for the mission; changing, by the mission ground control equipment, control of the communication link to the takeoff and landing ground control equipment; Landing the UAV by controlling the UAV with the communication link by the ground control equipment for takeoff and landing; and releasing, by the ground control equipment for take-off and landing, a communication link with the unmanned aerial vehicle.

In the step of changing the control right of the UAV frequency allocation method according to an embodiment of the present invention to the ground control equipment for take-off and landing, the ground control equipment for the mission checks the location of the UAV and the UAV arrives at the control right change route point Checking whether or not; transmitting, by the ground control equipment for the mission, a frequency control change request message to the ground control equipment for different missions and the ground control equipment for takeoff and landing, when the unmanned aerial vehicle arrives at the control change route point; and when the ground control equipment for different missions and the ground control equipment for takeoff and landing approve the frequency control change request message, the ground control equipment for the different missions includes the step of changing the control right of the communication link to the ground control equipment for takeoff and landing can do.

In the step of changing the control right of the UAV frequency allocation method according to an embodiment of the present invention to the ground control equipment for take-off and landing, the ground control equipment for the mission checks the location of the UAV and the UAV arrives at the control right change route point Checking whether or not; transmitting, by the ground control equipment for the mission, a frequency control right change request message to a frequency manager server when the unmanned aerial vehicle arrives at a control right change route point; receiving, by the ground control equipment for the mission, a new frequency occupation map generated by changing the control right of the communication link to the ground control equipment for takeoff and landing from the frequency manager server; and changing, by the ground control equipment for the mission, the control right of the communication link to the ground control equipment for takeoff and landing according to the new frequency occupation map.

The step of releasing the communication link of the method for allocating a frequency of an unmanned aerial vehicle according to an embodiment of the present invention includes: checking whether the landing of the unmanned aerial vehicle is complete; releasing, by the ground control equipment for take-off and landing, a communication link between the ground control equipment for take-off and landing and the unmanned aerial vehicle when the landing of the unmanned aerial vehicle is completed; transmitting, by the ground control equipment for take-off and landing, a frequency occupancy release request message for the frequency used in the communication link to different ground control equipment for take-off and landing and the ground control equipment for the mission; and releasing the occupation of the frequency used for the communication link by the ground control equipment for takeoff and landing, the different ground control equipment for takeoff and landing, and the ground control equipment for the mission.

The step of changing the transmission rate of the UAV frequency allocation method according to an embodiment of the present invention includes: checking whether the landing of the UAV is completed; releasing, by the ground control equipment for take-off and landing, a communication link between the ground control equipment for take-off and landing and the unmanned aerial vehicle when the landing of the unmanned aerial vehicle is completed; transmitting, by the ground control equipment for take-off and landing, a frequency occupancy release request message for a frequency used in the communication link to a frequency manager server; receiving, by the ground control equipment for take-off and landing, a new frequency occupancy map generated according to the frequency occupancy release request message from the frequency manager server; and releasing, by the ground control equipment for take-off and landing, the occupation of the frequency used for the communication link according to the new frequency occupation map.

The UAV frequency allocation system according to an embodiment of the present invention establishes a communication link with the UAV, controls the UAV with the communication link to take off the UAV, and changes control of the communication link to a mission ground control equipment ground control devices for take-off and landing; And it may include a mission ground control equipment for allocating an additional frequency necessary for the mission performance of the UAV, and changing the transmission rate for the UAV according to the additional frequency.

The ground control device for take-off and landing of the UAV frequency allocation system according to an embodiment of the present invention determines a minimum frequency and bandwidth required for controlling the UAV, and transmits a frequency occupancy new allocation request message according to the determined frequency and bandwidth to each other Transmits to other ground control equipment for take-off and landing and ground control equipment for the mission, and when the different ground control equipment for take-off and landing and ground control equipment for the mission approves the request message for new allocation of frequency occupation, the ground control equipment for take-off and landing A communication link between the ground control equipment for take-off and landing and the unmanned aerial vehicle may be established according to the frequency and bandwidth determined by .

The ground control device for take-off and landing of the UAV frequency allocation system according to an embodiment of the present invention determines a minimum frequency and bandwidth required for controlling the UAV, and transmits a frequency occupancy new allocation request message according to the determined frequency and bandwidth It is transmitted to the manager server, and when receiving the new frequency occupation map generated according to the frequency occupation new allocation request message from the frequency management server, the ground control equipment for take-off and landing according to the new frequency occupation map and a communication link between the UAV and the UAV can be established.

The ground control device for take-off and landing of the UAV frequency allocation system according to an embodiment of the present invention checks the location of the UAV to determine whether the UAV has arrived at the control right change route point, and the UAV is the control right change route point When arriving at , it transmits a frequency control change request message to different take-off and landing ground control equipment and the mission ground control equipment, and the different take-off and landing ground control equipment and the mission ground control equipment send a frequency control change request message Upon approval, control of the communications link may be transferred to mission ground control equipment.

The ground control device for take-off and landing of the UAV frequency allocation system according to an embodiment of the present invention checks the location of the UAV to determine whether the UAV has arrived at the control right change route point, and the UAV is the control right change route point Upon arrival at , a frequency control change request message is sent to the frequency manager server, and when a new frequency occupation map created by changing the control of the communication link to the mission ground control equipment is received from the frequency manager server, the new frequency occupation map Accordingly, the control of the communication link may be changed to the ground control equipment for mission.

The ground control equipment for the mission of the UAV frequency allocation system according to an embodiment of the present invention confirms whether the UAV has arrived at the mission start route point by checking the location of the UAV, and the UAV is the mission start route point Upon arrival, the UAV determines the frequency and bandwidth required for the mission according to the mission of the UAV, and transmits a frequency occupancy request message according to the determined frequency and bandwidth to the ground control equipment for different missions and the ground control equipment for takeoff and landing and, when the ground control equipment for different missions and the ground control equipment for take-off and landing approves the frequency occupancy new assignment request message, the frequency and transmission rate of the communication link between the ground control equipment for the mission and the unmanned aerial vehicle according to the determined frequency and bandwidth can be changed

The ground control equipment for the mission of the UAV frequency allocation system according to an embodiment of the present invention confirms whether the UAV has arrived at the mission start route point by checking the location of the UAV, and the UAV is the mission start route point Upon arrival at , the frequency and bandwidth required for the mission are determined according to the mission of the UAV, and a frequency occupancy new allocation request message according to the determined frequency and bandwidth is transmitted to the frequency manager server, and the frequency occupancy new When the new frequency occupation map generated according to the allocation request message is received, the frequency and transmission rate of the communication link between the ground control equipment for the mission and the unmanned aerial vehicle may be changed according to the new frequency occupation map.

The ground control equipment for the mission of the UAV frequency allocation system according to an embodiment of the present invention checks whether the mission of the UAV is terminated, and when the mission of the UAV is terminated, the ground control device for the mission Release the occupation of the additional frequency to reallocate the frequency allocated to the UAV, change the transmission rate for the UAV according to the reassigned frequency, and change control of the communication link to the ground control equipment for takeoff and landing, and The ground control equipment for takeoff and landing may control the UAV with the communication link to land the UAV, and release the communication link with the UAV.

The ground control equipment for takeoff and landing of the UAV frequency allocation system according to an embodiment of the present invention checks whether the landing of the UAV is complete, and when the landing of the UAV is completed, the ground control device for takeoff and landing and the UAV Releases the communication link between the two, transmits a frequency occupation release request message for the frequency used in the communication link to the frequency manager server, and receives a new frequency occupation map generated according to the frequency occupation release request message from the frequency manager server In one case, it is possible to release the occupation of the frequency used for the communication link according to the new frequency occupation map.

According to an embodiment of the present invention, when the takeoff and landing of the UAV is performed using a communication link allocated with a minimum frequency in the ground control equipment for takeoff and landing, and the UAV performs a mission that requires communication of large amounts of data, the mission By allocating additional frequencies to the communication link with the unmanned aerial vehicle in the ground control equipment for the purpose of performing large-capacity data communication, limited frequency resources can be used efficiently.

1 is a diagram illustrating an unmanned aerial vehicle frequency allocation system according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating a process in which the UAV takes off and starts to perform a mission in the UAV frequency allocation system according to the first embodiment of the present invention.
3 is a diagram illustrating a method of allocating a frequency to an unmanned aerial vehicle to start a mission by the unmanned aerial vehicle frequency allocation system according to the first embodiment of the present invention.
4 is a diagram illustrating a process of landing an unmanned aerial vehicle after completing a mission in the unmanned aerial vehicle frequency allocation system according to the first embodiment of the present invention.
5 is a diagram illustrating a method of allocating a frequency to an unmanned aerial vehicle that has completed a mission by the UAV frequency allocation system according to the first embodiment of the present invention.
6 is a diagram illustrating a process in which the UAV takes off and starts to perform a mission in the UAV frequency allocation system according to the second embodiment of the present invention.
7 is a diagram illustrating a method of allocating a frequency to an unmanned aerial vehicle to start a mission by the unmanned aerial vehicle frequency allocation system according to the second embodiment of the present invention.
8 is a diagram illustrating a process of landing an unmanned aerial vehicle that has completed a mission in the unmanned aerial vehicle frequency allocation system according to the second embodiment of the present invention.
9 is a diagram illustrating a method of allocating a frequency to an unmanned aerial vehicle that has completed a mission by the UAV frequency allocation system according to a second embodiment of the present invention.
10 is a flowchart illustrating an example of a method of allocating a frequency of an unmanned aerial vehicle for takeoff and landing ground control equipment according to an embodiment of the present invention.
11 is a flowchart illustrating another example of a method for allocating a frequency of an unmanned aerial vehicle for take-off and landing ground control equipment according to an embodiment of the present invention.
12 is a flowchart illustrating an example of a method of changing the control right between the ground control equipment for take-off and landing and the ground control equipment for a mission according to an embodiment of the present invention.
13 is a flowchart illustrating another example of a method of changing the control right between the ground control equipment for take-off and landing and the ground control equipment for a mission according to an embodiment of the present invention.
14 is a flowchart illustrating an example of a method of allocating a frequency of an unmanned aerial vehicle for a mission ground control equipment according to an embodiment of the present invention.
15 is a flowchart illustrating another example of a method for allocating a frequency of an unmanned aerial vehicle for a mission ground control equipment according to an embodiment of the present invention.
16 is a flowchart illustrating a method of changing control rights between ground control equipment for a mission according to an embodiment of the present invention.
17 is a flowchart illustrating an example of a method for releasing a communication link of a ground control equipment for take-off and landing according to an embodiment of the present invention.
18 is a flowchart illustrating another example of a method for releasing a communication link of a ground control equipment for take-off and landing according to an embodiment of the present invention.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. However, since various changes may be made to the embodiments, the scope of the patent application is not limited or limited by these embodiments. It should be understood that all modifications, equivalents and substitutes for the embodiments are included in the scope of the rights.

The terms used in the examples are used for the purpose of description only, and should not be construed as limiting. The singular expression includes the plural expression unless the context clearly dictates otherwise. In this specification, terms such as "comprise" or "have" are intended to designate that a feature, number, step, operation, component, part, or a combination thereof described in the specification exists, but one or more other features It should be understood that this does not preclude the existence or addition of numbers, steps, operations, components, parts, or combinations thereof.

In addition, in the description with reference to the accompanying drawings, the same components are given the same reference numerals regardless of the reference numerals, and the overlapping description thereof will be omitted. In describing the embodiment, if it is determined that a detailed description of a related known technology may unnecessarily obscure the gist of the embodiment, the detailed description thereof will be omitted.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a diagram illustrating an unmanned aerial vehicle frequency allocation system according to an embodiment of the present invention.

The UAV frequency allocation system may include a ground control equipment group consisting of a plurality of ground control equipment 110 for takeoff and landing and ground control equipment 120 for mission as shown in FIG. 1 .

The ground control equipment for take-off and landing 110 may take off the unmanned aerial vehicle 130 by creating a communication link between the unmanned aerial vehicle 130 and the take-off and landing ground control equipment 110 . And, after take-off is completed, the ground control equipment for take-off and landing 110 changes the authority of the communication link to the ground control equipment 120 for the mission, so that the ground control equipment for the mission 120 moves the unmanned aerial vehicle 130 to the mission area. You can make it possible to control the movement.

The ground control equipment 120 for the mission may move the unmanned aerial vehicle 130 to the mission area. In addition, the mission ground control equipment 120 may allocate an additional frequency required for the mission of the UAV 130 according to the mission of the UAV 130 , and change the transmission rate for the UAV 130 according to the additional frequency. In this case, the unmanned aerial vehicle 130 may perform a mission using the changed frequency and transmission rate. For example, the unmanned aerial vehicle 130 may quickly transmit an image captured in the mission area or information collected by a video and a sensor to the mission ground control equipment 120 using the changed frequency and transmission rate.

In addition, the ground control equipment group may further include a mobile ground control equipment 125 for moving the unmanned aerial vehicle 130 to the mission area. The mobile ground control equipment 125 may perform an operation of moving the unmanned aerial vehicle 130 that has completed takeoff to a mission area, and moving the unmanned aerial vehicle 130 that has completed the mission in the mission area to a landing point. The mobile ground control device 125 does not perform a high-level operation such as take-off or landing or an operation that requires a large-capacity link such as mission performance, so the ground control equipment for take-off and landing 110 and the mission ground control equipment 120 A low-performance ground control device may be used, or more UAVs 130 may be simultaneously controlled than the ground control device 110 for takeoff and landing and the ground control device 120 for a mission. In addition, according to an embodiment, the ground control equipment 120 for other missions that do not control the unmanned aerial vehicle 130 in the mission area may operate like the ground control equipment 125 for movement.

At this time, the UAV frequency allocation system swaps the ground communication equipment connected to the communication link of each UAV for a mission shift between the UAV that has performed the mission and the UAV entering the mission area to reconfigure the data link. can be done

For example, a mobile ground control device is connected to the first UAV and a communication link to move the first UAV to the mission area, and the ground control device for a mission is connected to the second UAV and a communication link to perform a mission in the mission area. state may be When the first UAV enters the mission area, the mobile ground control equipment changes control of the communication link with the first UAV to the mission ground control equipment, and the mission ground control equipment controls the communication link with the second UAV can be converted into mobile ground control equipment.

In addition, the ground control equipment for movement may control the second UAV that has obtained control of the communication link to move the second UAV to the landing site. In this case, the ground control equipment for the mission may perform the mission by controlling the first unmanned aerial vehicle that has obtained control of the communication link.

In addition, according to the embodiment, the ground notification equipment 120 for each mission acquires control of the communication link from the ground control equipment 110 for take-off and landing without swapping the communication link between the ground control equipment 120 for the mission. ), both moving to the mission location and performing the mission at the mission location.

In addition, when the mission of the UAV 130 is finished, the ground control equipment 120 for the mission may move the UAV 130 to the outside of the mission area. At this time, when the unmanned aerial vehicle 130 enters within a certain distance from the landing site, the mission ground control equipment 120 changes the authority of the communication link to the take-off and landing ground control equipment 110, so that the ground control equipment 110 for takeoff and landing ) may enable control to land the unmanned aerial vehicle 130 . At this time, after the ground control equipment for take-off and landing 110 lands the unmanned aerial vehicle 130, the mission may be terminated by releasing the communication link.

As shown in FIG. 1, the ground control equipment group includes a plurality of ground control equipment 110 for take-off and landing that commonly allocates and manages a specific unmanned aerial vehicle large-capacity data link frequency region, and ground control equipment 120 for mission and ground control for movement. It may be a group consisting of equipment 125 . In addition, the ground control equipment 110 for takeoff and landing, the ground control equipment 120 for the mission, and the ground control equipment 125 for movement share information on automatic frequency allocation/management by a dedicated wired/wireless communication system, and each The ground control equipment 110 for takeoff and landing, the ground control equipment 120 for the mission, and the ground control equipment 125 for movement may include a list of members belonging to the ground control equipment group.

The UAV frequency allocation system may operate in a distributed or centralized manner.

When the UAV frequency allocation system operates in a distributed manner, the ground control equipment 110 for takeoff and landing included in the ground control equipment group, the ground control equipment 120 for missions, and the ground control equipment 125 for movement are each occupied and You can own a frequency occupancy map by sharing frequency information with each other. And, among the ground control equipment for take-off and landing (110) for take-off and landing included in the ground control equipment group, the ground control equipment for mission 120, and the ground control equipment for movement 125, it is a In this case, the specific ground control equipment must be approved by all the ground control equipment 110 for take-off and landing, the ground control equipment 120 for mission and the ground control equipment 125 for movement belonging to the ground control equipment group to allocate a new frequency occupancy. can do. In addition, among the ground control equipment for take-off and landing (110) for take-off and landing included in the ground control equipment group, the ground control equipment for mission 120, and the ground control equipment for movement 125, the ground control equipment that requires frequency occupancy release is all in the group. It is possible to request an update of information on frequency occupancy release from the ground control devices 110 for takeoff and landing, the ground control devices 120 for missions, and the ground control devices for movement 125 .

When the UAV frequency allocation system operates in a centralized type, one of the ground control equipment for take-off and landing (110) included in the ground control equipment group, the ground control equipment for mission 120, and the ground control equipment for movement (125) The ground control equipment may operate as a frequency manager server that manages and approves the allocation of frequencies to be allocated to the ground control equipment 110 for takeoff and landing, the ground control equipment 120 for missions, and the ground control equipment 125 for movement. .

And, among the ground control equipment for take-off and landing (110) for take-off and landing included in the ground control equipment group, the ground control equipment for mission 120, and the ground control equipment for movement 125, it is a In this case, certain ground control equipment may request approval from the frequency manager server. In addition, when an update occurs in frequency allocation/management information according to a request, the frequency manager server distributes a frequency occupancy map to all ground control equipment included in the ground control equipment group.

In this case, the frequency manager server may include mission data of the UAV 130 and manage the mission conditions (takeoff and landing/control change/mission shift/mission performance) of the UAV 130 for each route point. In addition, the frequency manager server may utilize the information related to the unmanned aerial vehicle 130 for automatic frequency allocation/management.

In addition, the mission ground control equipment 120 may perform automatic frequency allocation/management of "new allocation of frequency occupation", "change of control rights for frequency occupation", and "release of frequency occupation allocation" for each controlled UAV. In addition, the ground control equipment 110 for takeoff and landing is "open communication link", "change frequency of communication link", "change communication link transmission rate", "change control right of communication link", "change communication link link", " Communication link release" setting can be performed.

The UAV frequency allocation system performs take-off and landing of the UAV using the communication link allocated with the minimum frequency from the ground control equipment for take-off and landing, and when the UAV performs a mission that requires communication of large amounts of data, ground control equipment for mission By allocating an additional frequency to the communication link with the unmanned aerial vehicle to perform large-capacity data communication, limited frequency resources can be efficiently used.

FIG. 2 is a diagram illustrating a process in which the UAV takes off and starts to perform a mission in the UAV frequency allocation system according to the first embodiment of the present invention. The first embodiment of the present invention is an embodiment in which the ground control equipment 125 for movement moves the unmanned aerial vehicle 130 to the mission area.

In step 210 , the ground control equipment for takeoff and landing 110 may generate a communication link between the unmanned aerial vehicle 130 and the ground control equipment 110 for takeoff and landing. In addition, the ground control equipment 110 for takeoff and landing may control the unmanned aerial vehicle 130 to take off by transmitting a control signal through a communication link.

In step 220 , the ground control equipment for takeoff and landing 110 may check whether the unmanned aerial vehicle 130 has moved to the control right change route point. When the unmanned aerial vehicle 130 moves to the control change route point, the ground control equipment for takeoff and landing 110 may change the control right of the communication link to the movement ground control equipment 125 . At this time, the ground control equipment 125 for movement may move the unmanned aerial vehicle 130 to the mission area.

When the UAV 130 enters the mission area in step 230 , the ground control equipment 125 for movement may change the control right of the communication link with the UAV 130 to the ground control device 120 for the mission. In this case, the mission ground control equipment 120 may change the control right of the communication link with the existing unmanned aerial vehicle performing a mission in the mission area to the mobile ground control equipment 125 .

In step 240 , the ground control equipment 120 for the mission may perform the mission by controlling the unmanned aerial vehicle 130 that has obtained control of the communication link in step 230 . In this case, the mission ground control equipment 120 may allocate an additional frequency to the communication link according to the mission of the unmanned aerial vehicle 130 . For example, if the mission of the UAV 130 is to take pictures at regular time intervals, the ground control equipment 120 for the mission receives the picture taken by the UAV 130 before the UAV 130 takes the next picture. It is possible to determine the transmission rate of the unmanned aerial vehicle 130 to do this. In addition, the mission ground control equipment 120 may allocate an additional frequency to the unmanned aerial vehicle 130 according to the determined transmission rate.

In addition, when the mission of the UAV 130 is real-time video recording, the mission ground control equipment 120 may determine the transmission rate of the UAV 130 so that the UAV 130 can receive the video shot in real time. In addition, the mission ground control equipment 120 may allocate an additional frequency to the unmanned aerial vehicle 130 according to the determined transmission rate.

When the mission of the UAV 130 is a real-time video recording, the transmission rate of the UAV 130 determined by the mission ground control equipment 120 may be higher than when the mission of the UAV 130 is to take pictures at regular time intervals. .

That is, the mission ground control equipment 120 can efficiently use limited frequency resources by adaptively allocating additional frequencies to secure a transmission rate necessary for the mission of the unmanned aerial vehicle 130 according to the mission of the unmanned aerial vehicle 130 . .

3 is a diagram illustrating a method of allocating a frequency to an unmanned aerial vehicle to start a mission by the unmanned aerial vehicle frequency allocation system according to the first embodiment of the present invention.

In step 310 , the ground control equipment 110 for takeoff and landing may allocate a frequency to the unmanned aerial vehicle 130 .

In step 315 , the ground control equipment 110 for takeoff and landing may establish a communication link with the unmanned aerial vehicle 130 using the frequency allocated in step 310 .

In step 320 , the ground control equipment 110 for takeoff and landing may control the unmanned aerial vehicle 130 through the communication link established in step 315 to take off the unmanned aerial vehicle 130 . In addition, the ground control equipment 110 for takeoff and landing may control the unmanned aerial vehicle 130 to fly toward the mission area.

In step 330 , the ground control equipment 110 for takeoff and landing may determine whether a change in control is necessary. For example, when the unmanned aerial vehicle 130 moves to a position set as a control change route point, the ground control equipment 110 for takeoff and landing may determine that a control right change is necessary and perform step 335 . In this case, the ground control equipment for takeoff and landing 110 may transmit a request to change the control right for the communication link opened in step 315 to the ground control equipment for movement 125 .

In step 340 , the mobile ground control equipment 125 may change the control right of the communication link from the takeoff and landing ground control equipment 110 to the mobile ground control equipment 125 according to the request received in step 330 .

In step 350 , the mobile ground control equipment 125 may change the communication link established in step 315 to a communication link between the mobile ground control equipment 125 and the unmanned aerial vehicle 130 .

In step 355 , the ground control equipment 125 for movement may transmit a control signal or a movement signal through the communication link changed in step 355 to move the unmanned aerial vehicle 130 to the mission area.

In step 360 , the mobile ground control equipment 125 may determine whether a mission shift is required. In this case, the ground control device for movement 125 may determine that the mission shift is necessary when the unmanned aerial vehicle 130 arrives at the mission area. Also, when the unmanned aerial vehicle 130 does not arrive at the mission area, it is determined that the mission shift is not necessary, and step 360 may be performed in real time or periodically. And, when the unmanned aerial vehicle 130 enters the mission area, the ground control device for movement 125 may perform step 365 .

In step 365, the mobile ground control device 125 includes the mission ground control device 120 connected to the communication link of the unmanned aerial vehicle performing a mission for a mission shift between the unmanned aerial vehicle 130 and the unmanned aerial vehicle 130 performing a mission in the mission area. By swapping the mobile ground control device 125 connected to the communication link of the unmanned aerial vehicle 130 , a link change may be performed to reconfigure the data link.

In step 370 , the mission terrestrial communication equipment 120 may change the communication link according to the data link reconfiguration performed in step 365 . Specifically, the mobile ground control device 125 may connect a communication link with the unmanned aerial vehicle performing a mission in the mission area, and the unmanned aerial vehicle 130 may connect a communication link with the mission ground control equipment 120 connected to the corresponding unmanned aerial vehicle. there is.

In step 380, the unmanned aerial vehicle 130 may check whether the mission is started. And, upon receiving the mission start signal, the unmanned aerial vehicle 130 may transmit information on the type of mission included in the mission start signal to the mission ground control equipment 120 .

In step 385 , the mission ground control equipment 120 may determine a transmission rate necessary for the mission performance of the unmanned aerial vehicle 130 according to information about the type of mission received from the unmanned aerial vehicle 130 . In addition, the mission ground control equipment 120 may reallocate additional frequencies necessary for the mission performance of the unmanned aerial vehicle 130 according to the determined transmission rate.

In step 390 , the mission ground control equipment 120 may change the frequency of the communication link and the transmission rate for the unmanned aerial vehicle 130 according to the frequency reallocation in step 385 .

In step 395 , the unmanned aerial vehicle 130 performs a mission, and may transmit data acquired according to the mission to the ground control equipment 120 for the mission through the frequency of the communication link changed in step 390 .

4 is a diagram illustrating a process of landing an unmanned aerial vehicle after completing a mission in the unmanned aerial vehicle frequency allocation system according to the first embodiment of the present invention.

In step 410 , the unmanned aerial vehicle 130 may perform a mission. Step 410 may be the same step as step 240 of FIG. 2 . Then, when the UAV 130 ends the mission or another UAV to replace the mission enters the mission area, step 420 may be performed.

When another UAV enters the mission area in step 420 , the mission ground control device 120 may change the control right of the communication link with the UAV 130 to the mobile ground control device 125 . In this case, the mobile ground control device 125 may change the control of the communication link with another UAV to the mission ground control device 120 .

In step 430 , the ground control equipment 110 for takeoff and landing may control the unmanned aerial vehicle 130 to fly toward the landing point. In addition, the ground control equipment 110 for takeoff and landing may check whether the unmanned aerial vehicle 130 has moved to the control right change route point. When the unmanned aerial vehicle 130 moves to the control right change path point, the ground control equipment for movement 125 may change the control right of the communication link to the ground control equipment 110 for take-off and landing.

In step 440 , the ground control equipment 110 for takeoff and landing may control the unmanned aerial vehicle 130 to land by transmitting a control signal through the communication link whose control right is changed in step 430 . In addition, the ground control equipment 110 for takeoff and landing may release the communication link with the unmanned aerial vehicle 130 .

5 is a diagram illustrating a method of allocating a frequency to an unmanned aerial vehicle that has completed a mission by the UAV frequency allocation system according to the first embodiment of the present invention. Step 510 of FIG. 5 may be performed after step 390 of FIG. 3 .

In step 510 , the ground control equipment 120 for the mission may check whether the mission of the unmanned aerial vehicle 130 has ended. And, when the mission of the unmanned aerial vehicle 130 is terminated, the mission ground control equipment 120 may perform step 520 . Also, when the mission of the UAV 130 is not completed, the ground control equipment 120 for the mission may repeatedly perform steps 390 and 510 until the mission of the UAV 130 is terminated. For example, when the UAV 130 terminates the operation according to the mission or the execution time set for the mission elapses, the ground control equipment 120 for the mission may determine that the mission of the UAV 130 has ended. .

In step 520 , the mission ground control equipment 120 releases the occupation of the additional frequency allocated in step 380 to reallocate the frequency allocated to the unmanned aerial vehicle 130 .

In step 525 , the mission ground control equipment 120 may change the transmission rate for the unmanned aerial vehicle 130 according to the reassigned frequency in step 520 .

In step 530 , the ground control equipment 120 for the mission may determine whether the mission shift of the unmanned aerial vehicle 130 is necessary. When another UAV to replace the mission enters the mission area, the ground control equipment 120 for the mission may determine that the mission shift of the UAV 130 is necessary.

In step 540, the mobile ground control device 125 is connected to the communication link of the ground control equipment 120 for mission connected to the communication link of the UAV 130 and the communication link of the other UAV for a mission shift between the UAV 130 and the other UAV. By swapping the ground control device 125 for movement, the link change can be performed to reconfigure the data link. In this case, the mobile terrestrial communication equipment 125 may change the communication link according to the data link reconfiguration. Specifically, the mobile ground control device 125 may connect a communication link to the unmanned aerial vehicle 130 , and the other unmanned aerial vehicle may connect a communication link to the mission ground control device 120 .

In step 545 , the ground control device 125 for movement may move the unmanned aerial vehicle 130 toward the landing site.

In step 550 , the ground control device 125 for movement may determine whether a change in control is necessary. For example, when the unmanned aerial vehicle 130 moves to a position set as a control right change route point, the ground control device for movement 125 may determine that a control right change is necessary and perform step 555 . When it is necessary to change the control right, the ground control device for movement 125 may transmit a control change request for the communication link changed in step 540 to the ground control device 110 for takeoff and landing.

In step 555 , the mobile ground control equipment 125 may change the control right of the communication link from the mobile ground control equipment 125 to the takeoff and landing ground control equipment 110 according to the request received in step 355 .

When the UAV frequency allocation system operates in a distributed manner, the mobile ground control device 125 may transmit a frequency control right change request message to other ground control devices included in the ground control device group. And, when other ground control devices included in the ground control equipment group approve the frequency control right change request message, the mobile ground control device 125 may perform step 560 .

When the UAV frequency allocation system operates in a centralized manner, the mobile ground control device 125 may transmit a frequency control right change request message to the frequency manager server. In addition, the mobile ground control device 125 may receive a new frequency occupancy map generated by changing the control right of the communication link to the ground control device for takeoff and landing from the frequency manager server. In this case, the ground control device for movement 125 may change the control right of the communication link to the ground control device 110 for takeoff and landing according to the new frequency occupation map, and perform step 560 .

In step 560, the ground control equipment for takeoff and landing 110 establishes a communication link between the unmanned aerial vehicle 130 and the ground control device 125 for movement according to the change of control in step 335. It can be changed to a communication link between 110 .

In step 570 , the ground control equipment 110 for takeoff and landing may control the unmanned aerial vehicle 130 with the communication link changed in step 350 to land the unmanned aerial vehicle 130 .

In step 580 , the ground control equipment 110 for takeoff and landing may release the communication link with the unmanned aerial vehicle 130 .

6 is a diagram illustrating a process in which the UAV takes off and starts to perform a mission in the UAV frequency allocation system according to the second embodiment of the present invention. The second embodiment of the present invention is an embodiment in which swap between ground control devices and ground control equipment 125 for movement are not required.

In step 610 , the ground control equipment for take-off and landing 110 may generate a communication link between the unmanned aerial vehicle 130 and the ground control equipment 110 for take-off and landing. In addition, the ground control equipment 110 for takeoff and landing may control the unmanned aerial vehicle 130 to take off by transmitting a control signal through a communication link.

In step 620 , the ground control equipment for takeoff and landing 110 may check whether the unmanned aerial vehicle 130 has moved to the control right change route point. When the unmanned aerial vehicle 130 moves to the control change route point, the ground control equipment 110 for take-off and landing may change the control right of the communication link to the ground control equipment 120 for the mission. In this case, the ground control equipment 120 for the mission may move the unmanned aerial vehicle 130 to the mission area.

When the UAV 130 enters the mission area in step 630 , the ground control equipment 120 for the mission may allocate an additional frequency to the communication link according to the mission of the UAV 130 . For example, if the mission of the UAV 130 is to take pictures at regular time intervals, the ground control equipment 120 for the mission receives the picture taken by the UAV 130 before the UAV 130 takes the next picture. It is possible to determine the transmission rate of the unmanned aerial vehicle 130 to do this. In addition, the mission ground control equipment 120 may allocate an additional frequency to the unmanned aerial vehicle 130 according to the determined transmission rate.

In addition, when the mission of the UAV 130 is real-time video recording, the mission ground control equipment 120 may determine the transmission rate of the UAV 130 so that the UAV 130 can receive the video shot in real time. In addition, the mission ground control equipment 120 may allocate an additional frequency to the unmanned aerial vehicle 130 according to the determined transmission rate.

In step 640 , the ground control equipment 125 for movement may perform a mission by controlling the unmanned aerial vehicle 130 to which a frequency is additionally allocated in step 630 .

7 is a diagram illustrating a method of allocating a frequency to an unmanned aerial vehicle to start a mission by the unmanned aerial vehicle frequency allocation system according to the second embodiment of the present invention.

In step 710 , the ground control equipment 110 for takeoff and landing may allocate a frequency to the unmanned aerial vehicle 130 .

In step 715 , the ground control equipment for takeoff and landing 110 may establish a communication link with the unmanned aerial vehicle 130 using the frequency allocated in step 710 .

In step 720 , the ground control equipment 110 for takeoff and landing may control the unmanned aerial vehicle 130 through the communication link established in step 715 to take off the unmanned aerial vehicle 130 . In addition, the ground control equipment 110 for takeoff and landing may control the unmanned aerial vehicle 130 to fly toward the mission area.

In step 730 , the ground control equipment 110 for takeoff and landing may determine whether a change in control is necessary. For example, when the unmanned aerial vehicle 130 moves to a position set as a control right change route point, the ground control equipment for takeoff and landing 110 determines that a control right change is necessary and performs step 735 . In this case, the ground control equipment for takeoff and landing 110 may transmit a request to change the control right for the communication link opened in step 715 to the ground control equipment 120 for the mission.

In step 735 , the ground control equipment 120 for the mission may change the control right of the communication link from the ground control equipment 110 for takeoff and landing to the ground control equipment 120 for the mission according to the request received in step 730 . .

In step 740 , the mission ground control equipment 120 may change the communication link established in step 715 to a communication link between the mission ground control equipment 120 and the unmanned aerial vehicle 130 .

In step 750 , the unmanned aerial vehicle 130 may check whether the mission is started. At this time, when the UAV 130 arrives at the mission area, when the execution start time set for the mission has elapsed, or when a mission start signal is received, it may be determined that the mission start condition is satisfied. And, when the mission start condition of the UAV 130 is satisfied, the UAV 130 may transmit a mission start signal or information about the type of mission included in the pre-stored mission setting to the mission ground control equipment 120 . there is.

In step 755 , the mission ground control equipment 120 may determine a transmission rate necessary for the mission performance of the unmanned aerial vehicle 130 according to information about the type of mission received from the unmanned aerial vehicle 130 . In addition, the mission ground control equipment 120 may reallocate additional frequencies necessary for the mission performance of the unmanned aerial vehicle 130 according to the determined transmission rate.

In step 760 , the mission ground control equipment 120 may change the frequency of the communication link and the transmission rate for the unmanned aerial vehicle 130 according to the frequency reallocation in step 755 .

In step 765 , the unmanned aerial vehicle 130 performs a mission, and may transmit data acquired according to the mission to the ground control equipment 120 for the mission through the frequency of the communication link changed in step 760 .

8 is a diagram illustrating a process of landing an unmanned aerial vehicle that has completed a mission in the unmanned aerial vehicle frequency allocation system according to the second embodiment of the present invention.

In step 810 , the unmanned aerial vehicle 130 may perform a mission. Step 810 may be the same step as step 640 of FIG. 6 . Then, when the UAV 130 ends the mission or another UAV to replace the mission enters the mission area, step 820 may be performed.

In step 820 , the mission ground control equipment 120 releases the occupation of the additional frequency allocated in step 640 to reallocate the frequency allocated to the UAV. In addition, the mission ground control equipment 120 may change the transmission rate for the unmanned aerial vehicle 130 according to the reassigned frequency. Next, the ground control equipment 120 for the mission may move the unmanned aerial vehicle 130 toward the landing site.

In step 830 , the mission ground control equipment 120 may check whether the unmanned aerial vehicle 130 has moved to the control right change path point. When the unmanned aerial vehicle 130 moves to the control right change route point, the mission ground control equipment 120 may change the control right of the communication link to the takeoff and landing ground control equipment 110 .

In step 840 , the ground control equipment 110 for takeoff and landing may control the unmanned aerial vehicle 130 to land by transmitting a control signal through the communication link whose control right is changed in step 830 . In addition, the ground control equipment 110 for takeoff and landing may release the communication link with the unmanned aerial vehicle 130 .

9 is a diagram illustrating a method of allocating a frequency to an unmanned aerial vehicle that has completed a mission by the unmanned aerial vehicle frequency allocation system according to a second embodiment of the present invention. Step 910 of FIG. 9 may be performed after step 765 of FIG. 7 .

In step 910 , the ground control equipment 120 for the mission may determine whether the mission of the unmanned aerial vehicle 130 has ended. And, when the mission of the unmanned aerial vehicle 130 is terminated, the mission ground control equipment 120 may perform step 920 . Also, when the mission of the UAV 130 is not completed, the ground control equipment 120 for the mission may repeatedly perform steps 390 and 910 until the mission of the UAV 130 is terminated. For example, when the UAV 130 terminates an operation according to the mission, the execution time set for the mission has elapsed, or another UAV to replace the mission enters the mission area, the ground control equipment 120 for the mission is the unmanned aerial vehicle. It can be determined that the mission of (130) has been completed.

In step 920 , the mission ground control equipment 120 releases the occupation of the additional frequency allocated in step 380 to reallocate the frequency allocated to the unmanned aerial vehicle 130 .

In step 925 , the mission ground control equipment 120 may change the transmission rate for the unmanned aerial vehicle 130 according to the reassigned frequency in step 920 . In addition, the ground control equipment 120 for the mission may move the unmanned aerial vehicle 130 toward the landing site.

In step 930 , the ground control equipment 120 for the mission may determine whether a change in control is necessary. For example, when the unmanned aerial vehicle 130 moves to a location set as a control change route point, the ground control equipment 120 for a mission determines that a control right change is necessary and performs step 935 .

In step 935 , the mission ground control equipment 120 may transmit a control right change request for the communication link opened in step 315 to the takeoff and landing ground control equipment 110 .

When the UAV frequency allocation system operates in a distributed manner, the mission ground control equipment 120 may transmit a frequency control right change request message to different mission ground control devices. In addition, when the ground control equipment for different missions approves the frequency control right change request message, the ground control equipment for the mission 120 may perform step 940 .

When the unmanned aerial vehicle frequency allocation system operates in a centralized manner, the mission ground control equipment 120 may transmit a frequency control right change request message to the frequency manager server. In addition, the mission ground control equipment 120 may receive a new frequency occupancy map generated by changing the control right of the communication link to the takeoff and landing ground control equipment from the frequency manager server. In this case, the ground control equipment 120 for the mission may perform step 940 .

In step 940 , the ground control equipment 120 for the mission may change the control right of the communication link from the ground control equipment 120 for the mission to the ground control equipment 110 for takeoff and landing according to the request received in step 935 . . When the unmanned aerial vehicle frequency allocation system operates in a centralized manner and receives the new frequency occupation map in step 935, the mission ground control equipment 120 controls the control of the communication link according to the new frequency occupation map. It can be changed to the equipment 110 .

In step 950 , the ground control equipment for takeoff and landing 110 establishes a communication link between the unmanned aerial vehicle 130 and the mission ground control equipment 120 according to the change of control in step 340 . It can be changed to a communication link between the devices 110 .

In step 960 , the ground control equipment 110 for takeoff and landing may control the unmanned aerial vehicle 130 with the communication link changed in step 350 to land the unmanned aerial vehicle 130 .

In step 960 , the ground control equipment 110 for takeoff and landing may release the communication link with the unmanned aerial vehicle 130 .

10 is a flowchart illustrating an example of a method of allocating a frequency of an unmanned aerial vehicle for takeoff and landing ground control equipment according to an embodiment of the present invention. When the UAV frequency allocation system operates in a distributed manner, steps 1010 to 1050 may be included in step 310 of FIG. 3 or step 710 of FIG. 7 .

In step 1010 , the ground control equipment 110 for takeoff and landing may determine a minimum frequency and bandwidth required for controlling the unmanned aerial vehicle 130 . In this case, the frequency and bandwidth determined by the ground control equipment for takeoff and landing 110 may be determined differently depending on the type of the UAV 130 or the performance of the UAV 130 . For example, in the case of a low-performance or high-weight UAV, the amount of data required for take-off may be greater than that of a high-performance, low-weight UAV. At this time, the low-performance UAV is an UAV that does not have a flight process installed in the UAV, and must transmit all control signals from the ground control equipment 110 for take-off and landing. can be

In step 1020 , the ground control equipment for takeoff and landing 110 may transmit a frequency occupation new assignment request message according to the frequency and bandwidth determined in step 1010 to different ground control equipment for takeoff and landing.

In step 1030, the ground control equipment for take-off and landing 110 may check whether the different ground control equipment for take-off and landing have approved all of the frequency occupancy new allocation request messages. If not approved, the ground control equipment for take-off and landing 110 may repeatedly perform step 1020 until approval. In addition, if approved, the ground control equipment 110 for takeoff and landing may perform step 1040 .

In step 1040, the ground control equipment for take-off and landing 110 may transmit a frequency occupation new assignment completion message to different ground control equipment for take-off and landing.

In step 1030 , the ground control equipment for takeoff and landing 110 may establish a communication link between the ground control equipment for takeoff and landing 110 and the unmanned aerial vehicle according to the frequency and bandwidth determined in step 1010 .

11 is a flowchart illustrating another example of a method for allocating a frequency of an unmanned aerial vehicle for take-off and landing ground control equipment according to an embodiment of the present invention. When the UAV frequency allocation system operates in a centralized manner, steps 1110 to 1140 may be included in step 310 of FIG. 3 or step 710 of FIG. 7 .

In step 1110 , the ground control equipment 110 for takeoff and landing may determine the minimum frequency and bandwidth required for controlling the unmanned aerial vehicle 130 . In addition, the ground control equipment for take-off and landing 110 may transmit a frequency occupancy new allocation request message according to the determined frequency and bandwidth to the frequency manager server.

In step 1120 , the ground control equipment for takeoff and landing 110 may check whether the frequency manager server has approved the frequency occupancy new assignment request message. When the frequency manager server approves the frequency occupancy new allocation request message, step 1130 may be performed.

In step 1130 , the ground control equipment for takeoff and landing 110 may receive a new frequency occupation map generated according to a frequency occupation new allocation request message from the frequency manager server.

In step 1140 , the ground control equipment for takeoff and landing 110 may establish a communication link between the ground control equipment for takeoff and landing 110 and the unmanned aerial vehicle according to the new frequency occupation map received in step 1130 .

12 is a flowchart illustrating an example of a method of changing the control right between the ground control equipment for take-off and landing and the ground control equipment for a mission according to an embodiment of the present invention. When the UAV frequency allocation system operates in a distributed manner, steps 1210 to 1230 are included in step 330 of FIG. 3 or step 730 of FIG. 7 , and steps 1240 to 1250 may be included in step 340 of FIG. 3 or step 735 of FIG. 7 .

In step 1210 , the ground control equipment 110 for takeoff and landing may check the location of the unmanned aerial vehicle 130 .

In step 1220 , the ground control equipment 110 for takeoff and landing may use the location of the unmanned aerial vehicle 130 checked in step 1210 to determine whether the unmanned aerial vehicle 130 has arrived at the control change route point. When the unmanned aerial vehicle 130 arrives at the control change route point, the takeoff and landing ground control equipment 110 may perform step 1230 .

In step 1220 , the ground control equipment for takeoff and landing 110 may transmit a frequency control right change request message to different ground control equipment for takeoff and landing.

In step 1240 , the ground control equipment for take-off and landing 110 may check whether the different ground control devices for take-off and landing have approved all of the frequency control right change request messages. If not approved, the ground control equipment for take-off and landing 110 may repeatedly perform step 1230 until approval. Also, if approved, the ground control equipment 110 for takeoff and landing may perform step 1250 .

In step 1250 , the ground control equipment 110 for takeoff and landing may change the control right of the communication link to the ground control equipment 120 for mission.

13 is a flowchart illustrating another example of a method of changing the control right between the ground control equipment for take-off and landing and the ground control equipment for a mission according to an embodiment of the present invention. When the UAV frequency allocation system operates in a centralized manner, steps 1310 to 1330 are included in step 330 of FIG. 3 or step 730 of FIG. 7 , and steps 1340 through 1360 ) may be included in step 340 of FIG. 3 or step 735 of FIG. 7 .

In step 1310 , the ground control equipment 110 for takeoff and landing may check the location of the unmanned aerial vehicle 130 .

In step 1320 , the ground control equipment for takeoff and landing 110 may use the location of the unmanned aerial vehicle 130 confirmed in step 1310 to determine whether the unmanned aerial vehicle 130 has arrived at the control change route point. When the unmanned aerial vehicle 130 arrives at the control change route point, the takeoff and landing ground control equipment 110 may perform step 1330 .

In step 1320, the ground control equipment 110 for takeoff and landing may transmit a frequency control right change request message to the frequency manager server.

In step 1340 , the ground control equipment for takeoff and landing 110 may check whether the frequency manager server has approved the frequency control right change request message. When the frequency manager server approves the frequency occupancy new allocation request message, step 1350 may be performed.

In step 1350 , the ground control equipment for takeoff and landing 110 may receive a new frequency occupation map generated by changing the control right of the communication link to the ground control equipment for mission from the frequency manager server.

In step 1360 , the ground control equipment for takeoff and landing 110 may change the control right of the communication link to the ground control equipment 120 for mission according to the new frequency occupation map received in step 1130 .

14 is a flowchart illustrating an example of a method of allocating a frequency of an unmanned aerial vehicle for a mission ground control equipment according to an embodiment of the present invention. When the UAV frequency allocation system operates in a distributed manner, steps 1410 to 1420 are included in step 380 of FIG. 3 or step 750 of FIG. 7 , and steps 1430 through 1480 may be included in step 385 of FIG. 3 or step 755 of FIG. 7 .

In step 1410 , the mission ground control equipment 120 may determine the location of the unmanned aerial vehicle 130 .

In step 1420 , the mission ground control equipment 120 may determine whether the unmanned aerial vehicle 130 has arrived at the mission start path point using the location of the unmanned aerial vehicle 130 confirmed in step 1410 . When the unmanned aerial vehicle 130 arrives at the mission start path point, the mission ground control equipment 120 may perform step 1430 .

In step 1430 , the mission ground control equipment 120 may determine the frequency and bandwidth required for the mission of the unmanned aerial vehicle 130 according to the mission of the unmanned aerial vehicle 130 .

In step 1440 , the mission ground control equipment 120 may transmit a frequency occupation new assignment request message according to the frequency and bandwidth determined in step 1420 to different mission ground control equipment.

In step 1450 , the ground control equipment for the mission 120 may check whether the ground control equipment for different missions has approved all the frequency occupancy new assignment request messages. If not approved, the mission ground control equipment 120 may repeat step 1440 until approval. Also, if approved, the mission ground control equipment 120 may perform step 1460 .

In step 1460, the mission ground control equipment 120 may transmit a frequency occupancy new assignment complete message to different mission ground control equipment.

In step 1470 , the mission ground control equipment 120 may change the frequency and transmission rate of the communication link between the mission ground control equipment 120 and the unmanned aerial vehicle according to the frequency and bandwidth determined in step 1430 .

In step 1480, the mission ground control equipment 120 may transmit a frequency occupancy release request message for the frequency used before the change in the communication link to different mission ground control equipment.

15 is a flowchart illustrating another example of a method for allocating a frequency of an unmanned aerial vehicle for a mission ground control equipment according to an embodiment of the present invention. When the UAV frequency allocation system operates in a centralized manner, steps 1510 to 1520 are included in step 380 of FIG. 3 or step 750 of FIG. 7 , and steps 1530 through 1590 ) may be included in step 385 of FIG. 3 or step 755 of FIG. 7 .

In step 1510 , the ground control equipment 120 for the mission may determine the location of the unmanned aerial vehicle 130 .

In step 1520 , the mission ground control equipment 120 may check whether the unmanned aerial vehicle 130 has arrived at the mission start path point using the location of the unmanned aerial vehicle 130 confirmed in step 1410 . When the unmanned aerial vehicle 130 arrives at the mission start path point, the mission ground control equipment 120 may perform step 1530 .

In step 1530 , the mission ground control equipment 120 may determine the frequency and bandwidth required for the mission of the unmanned aerial vehicle 130 according to the mission of the unmanned aerial vehicle 130 . In addition, the mission ground control equipment 120 may transmit a frequency occupancy new allocation request message according to the determined frequency and bandwidth to the frequency manager server.

In step 1540, the mission ground control equipment 120 may check whether the frequency manager server has approved the frequency occupancy new assignment request message. When the frequency manager server approves the frequency occupancy new allocation request message, step 1550 may be performed.

In step 1550 , the mission ground control equipment 120 may receive a new frequency occupation map generated according to the frequency occupation new allocation request message from the frequency manager server.

In step 1560, the mission ground control equipment 120 may change the frequency and transmission rate of the communication link between the mission ground control equipment 120 and the unmanned aerial vehicle according to the new frequency occupation map.

In step 1570, the mission ground control equipment 120 may transmit a frequency occupancy release request message for the frequency used before the change in the communication link to the frequency manager server.

In step 1580, the mission ground control equipment 120 may check whether the frequency manager server has approved the frequency occupancy release request message. When the frequency manager server approves the frequency occupancy release request message, step 1090 may be performed.

In step 1590, the mission ground control equipment 120 may receive a new frequency occupancy map generated according to the frequency occupancy release request message from the frequency manager server. In this case, in the new frequency occupation map received in step 1550 , the frequency allocated according to the new allocation request message and the frequency used before the change may be all allocated to the communication link. In addition, in the new frequency occupation map received in step 1590, only the frequencies allocated according to the new allocation request message may be allocated to the communication link.

16 is a flowchart illustrating a method of changing control rights between ground control equipment for a mission according to an embodiment of the present invention. Steps 1610 to 1630 of FIG. 16 may be included in steps 360 and 365 of FIG. 3 .

In step 1610 , the ground control equipment 125 for movement may confirm the location of the unmanned aerial vehicle 130 .

In step 1620 , the ground control equipment 125 for movement may check whether the unmanned aerial vehicle 130 has arrived at the mission area route point using the location of the unmanned aerial vehicle 130 confirmed in step 1610 . When the unmanned aerial vehicle 130 arrives at the route point of the mission area, the ground control equipment 125 for movement may perform step 1230 .

In step 1620 , the ground control equipment for movement 125 may change the control right of the communication link with the unmanned aerial vehicle 130 to the ground control equipment 120 for mission. In this case, the mission ground control equipment 120 may change the control right of the communication link with the existing unmanned aerial vehicle performing a mission in the mission area to the mobile ground control equipment 125 .

17 is a flowchart illustrating an example of a method for releasing a communication link of a ground control equipment for take-off and landing according to an embodiment of the present invention. When the UAV frequency allocation system operates in a distributed manner, steps 1710 to 1740 may be included in step 580 of FIG. 5 or step 970 of FIG. 9 .

In step 1710 , the ground control equipment 110 for takeoff and landing may check whether the landing of the unmanned aerial vehicle 130 is complete. When the landing of the unmanned aerial vehicle 130 is completed, the ground control equipment 110 for takeoff and landing may perform step 1720 .

In step 1720 , the ground control equipment for takeoff and landing 110 may release the communication link between the ground control equipment for takeoff and landing 110 and the unmanned aerial vehicle 130 .

In step 1730 , the ground control equipment for takeoff and landing 110 may transmit a frequency occupation release request message for a frequency used in the communication link released in step 1720 to different ground control equipment for takeoff and landing.

In step 1740 , the ground control equipment for takeoff and landing 110 and the different ground control equipment for takeoff and landing may release the occupation of the frequency used for the communication link released in step 1720 .

18 is a flowchart illustrating another example of a method for releasing a communication link of a ground control equipment for takeoff and landing according to an embodiment of the present invention. When the UAV frequency allocation system operates in a centralized manner, steps 1810 to 1860 may be included in step 580 of FIG. 5 or step 970 of FIG. 9 .

In step 1810 , the ground control equipment 110 for takeoff and landing may check whether the landing of the unmanned aerial vehicle 130 has been completed. When the landing of the unmanned aerial vehicle 130 is completed, the ground control equipment 110 for takeoff and landing may perform step 1820 .

In step 1820 , the ground control equipment for takeoff and landing 110 may release the communication link between the ground control equipment for takeoff and landing and the unmanned aerial vehicle 130 .

In step 1830 , the ground control equipment for takeoff and landing 110 may transmit a frequency occupancy release request message for a frequency used in the communication link released in step 1820 to the frequency manager server.

In step 1840, the ground control equipment for takeoff and landing 110 may check whether the frequency manager server has approved the frequency occupancy release request message. When the frequency manager server approves the frequency occupancy release request message, step 1850 may be performed.

In step 1850, the ground control equipment for takeoff and landing 110 may receive a new frequency occupation map generated according to the frequency occupation release request message.

In step 1860 , the ground control equipment 110 for takeoff and landing may release the occupation of the frequency used for the communication link according to the new frequency occupation map received in step 1850 .

The present invention performs take-off and landing of an unmanned aerial vehicle using a communication link allocated with a minimum frequency in the ground control equipment for take-off and landing, and when the unmanned aerial vehicle performs a mission requiring large-capacity data communication, the ground control equipment for the mission uses the unmanned aerial vehicle By allocating an additional frequency to a communication link with and performing large-capacity data communication, limited frequency resources can be efficiently used.

On the other hand, the UAV frequency allocation system or the UAV frequency allocation method according to the present invention is written as a program that can be executed on a computer and may be implemented in various recording media such as magnetic storage media, optical reading media, digital storage media, and the like.

Implementations of the various techniques described herein may be implemented in digital electronic circuitry, or in computer hardware, firmware, software, or combinations thereof. Implementations may be implemented for processing by, or controlling the operation of, a data processing device, eg, a programmable processor, computer, or number of computers, in a computer program product, eg, a machine-readable storage device (computer readable capable medium) may be implemented as a computer program tangibly embodied in a computer program. A computer program, such as the computer program(s) described above, may be written in any form of programming language, including compiled or interpreted languages, as a standalone program or in a module, component, subroutine, or computing environment. It can be deployed in any form, including as other units suitable for use in A computer program may be deployed to be processed on one computer or multiple computers at one site or distributed across multiple sites and interconnected by a communications network.

Processors suitable for processing a computer program include, by way of example, both general and special purpose microprocessors, and any one or more processors of any kind of digital computer. In general, a processor will receive instructions and data from either read-only memory or random access memory or both. Elements of a computer may include at least one processor that executes instructions and one or more memory devices that store instructions and data. In general, a computer may include one or more mass storage devices for storing data, for example magnetic, magneto-optical disks, or optical disks, receiving data from, sending data to, or both. may be combined to become Information carriers suitable for embodying computer program instructions and data are, for example, semiconductor memory devices, for example, magnetic media such as hard disks, floppy disks and magnetic tapes, Compact Disk Read Only Memory (CD-ROM). ), an optical recording medium such as a DVD (Digital Video Disk), a magneto-optical medium such as an optical disk, ROM (Read Only Memory), RAM (RAM) , Random Access Memory), flash memory, EPROM (Erasable Programmable ROM), EEPROM (Electrically Erasable Programmable ROM), and the like. Processors and memories may be supplemented by, or included in, special purpose logic circuitry.

In addition, the computer-readable medium may be any available medium that can be accessed by a computer, and may include any computer storage medium.

While this specification contains numerous specific implementation details, they should not be construed as limitations on the scope of any invention or claim, but rather as descriptions of features that may be specific to particular embodiments of particular inventions. should be understood Certain features that are described herein in the context of separate embodiments may be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment may also be implemented in multiple embodiments, either individually or in any suitable subcombination. Further, although features operate in a particular combination and may be initially depicted as claimed as such, one or more features from a claimed combination may in some cases be excluded from the combination, the claimed combination being a sub-combination. or a variant of a sub-combination.

Likewise, although acts are depicted in the drawings in a particular order, it should not be construed that all acts shown must be performed or that such acts must be performed in the specific order or sequential order shown to obtain desirable results. In certain cases, multitasking and parallel processing may be advantageous. Further, the separation of the various device components of the above-described embodiments should not be construed as requiring such separation in all embodiments, and the program components and devices described may generally be integrated together into a single software product or packaged into multiple software products. You have to understand that you can.

On the other hand, the embodiments of the present invention disclosed in the present specification and drawings are merely presented as specific examples to aid understanding, and are not intended to limit the scope of the present invention. It will be apparent to those of ordinary skill in the art to which the present invention pertains that other modifications based on the technical spirit of the present invention can be implemented in addition to the embodiments disclosed herein.

110: ground control equipment for takeoff and landing
120: mission ground control equipment
130: drone

Claims (23)

establishing, by the ground control equipment for take-off and landing, a communication link with the unmanned aerial vehicle;
taking off, by the ground control equipment for takeoff and landing, controlling the unmanned aerial vehicle through the communication link;
changing, by the ground control equipment for take-off and landing, control of the communication link to the ground control equipment for mission; and
Allocating, by the ground control equipment for a mission, an additional frequency required for the mission of the UAV, and changing the transmission rate for the UAV according to the additional frequency
including,
The step of establishing a communication link with the UAV includes:
determining, by the ground control equipment for takeoff and landing, a minimum frequency and bandwidth required for control of the unmanned aerial vehicle;
transmitting a frequency occupation new assignment request message according to the frequency and bandwidth determined by the ground control device for take-off and landing to different ground control devices for take-off and landing and the ground control device for the mission; and
When the different ground control equipment for take-off and landing and the ground control equipment for the mission approve a new frequency occupancy assignment request message, communication between the ground control equipment for take-off and landing and the unmanned aerial vehicle according to the frequency and bandwidth determined by the ground control equipment for take-off and landing Steps to open a link
UAV frequency allocation method comprising a. delete establishing, by the ground control equipment for take-off and landing, a communication link with the unmanned aerial vehicle;
taking off, by the ground control equipment for takeoff and landing, controlling the unmanned aerial vehicle through the communication link;
changing, by the ground control equipment for take-off and landing, control of the communication link to the ground control equipment for mission; and
Allocating, by the ground control equipment for a mission, an additional frequency required for the mission of the UAV, and changing the transmission rate for the UAV according to the additional frequency
including,
The step of establishing a communication link with the UAV includes:
determining, by the ground control equipment for takeoff and landing, a minimum frequency and bandwidth required for control of the unmanned aerial vehicle;
transmitting a frequency occupancy new assignment request message according to the frequency and bandwidth determined by the ground control equipment for takeoff and landing to a frequency manager server;
receiving, by the ground control equipment for take-off and landing, a new frequency occupation map generated according to the frequency occupation new allocation request message from the frequency manager server; and
The step of establishing, by the ground control equipment for take-off and landing, a communication link between the ground control equipment for take-off and landing and the unmanned aerial vehicle according to the new frequency occupancy map;
UAV frequency allocation method comprising a. establishing, by the ground control equipment for take-off and landing, a communication link with the unmanned aerial vehicle;
taking off, by the ground control equipment for takeoff and landing, controlling the unmanned aerial vehicle through the communication link;
changing, by the ground control equipment for take-off and landing, control of the communication link to the ground control equipment for mission; and
Allocating, by the ground control equipment for a mission, an additional frequency required for the mission of the UAV, and changing the transmission rate for the UAV according to the additional frequency
including,
Changing the control right to mission ground control equipment includes:
checking the location of the unmanned aerial vehicle to determine whether the unmanned aerial vehicle has arrived at a control right change route point;
transmitting, by the ground control equipment for take-off and landing, a frequency control change request message to different ground control equipment for take-off and landing and the ground control equipment for the mission when the unmanned aerial vehicle arrives at the control change route point; and
changing, by the ground control equipment for take-off and landing, control of the communication link to the mission ground control equipment, when the different ground control equipment for take-off and landing and the ground control equipment for the mission approve the frequency control change request message;
UAV frequency allocation method comprising a. establishing, by the ground control equipment for take-off and landing, a communication link with the unmanned aerial vehicle;
taking off, by the ground control equipment for takeoff and landing, controlling the unmanned aerial vehicle through the communication link;
changing, by the ground control equipment for take-off and landing, control of the communication link to the ground control equipment for mission; and
Allocating, by the ground control equipment for a mission, an additional frequency required for the mission of the UAV, and changing the transmission rate for the UAV according to the additional frequency
including,
Changing the control right to mission ground control equipment includes:
checking the location of the unmanned aerial vehicle to determine whether the unmanned aerial vehicle has arrived at a control right change route point;
transmitting, by the ground control equipment for take-off and landing, a frequency control right change request message to a frequency manager server when the unmanned aerial vehicle arrives at a control right change route point;
receiving, by the ground control equipment for take-off and landing, a new frequency occupancy map generated by changing the control right of the communication link to the mission ground control equipment from the frequency manager server; and
Changing, by the ground control equipment for take-off and landing, the control right of the communication link to the ground control equipment for mission according to the new frequency occupancy map
UAV frequency allocation method comprising a. establishing, by the ground control equipment for take-off and landing, a communication link with the unmanned aerial vehicle;
taking off, by the ground control equipment for takeoff and landing, controlling the unmanned aerial vehicle through the communication link;
changing, by the ground control equipment for take-off and landing, control of the communication link to the ground control equipment for mission; and
Allocating, by the ground control equipment for a mission, an additional frequency required for the mission of the UAV, and changing the transmission rate for the UAV according to the additional frequency
including,
The step of changing the transmission rate comprises:
checking the location of the unmanned aerial vehicle to determine whether the unmanned aerial vehicle has arrived at a mission start path point;
determining, by the ground control equipment for the mission, a frequency and bandwidth required for the mission according to the mission of the UAV when the UAV arrives at the mission start path point;
transmitting a frequency occupancy new assignment request message according to the frequency and bandwidth determined by the ground control equipment for the mission to the ground control equipment for different missions and the ground control equipment for takeoff and landing; and
When the ground control equipment for different missions and the ground control equipment for takeoff and landing approve the request message for new allocation of frequency occupancy, communication between the ground control equipment for the mission and the unmanned aerial vehicle according to the frequency and bandwidth determined by the ground control equipment for the mission Changing the frequency and baud rate of the link
UAV frequency allocation method comprising a. 7. The method of claim 6,
The step of changing the transmission rate comprises:
After changing the frequency and transmission rate of the communication link, transmitting a frequency occupancy request message for the frequency used before the change in the communication link to the ground control equipment for different missions and the ground control equipment for takeoff and landing
UAV frequency allocation method further comprising a. establishing, by the ground control equipment for take-off and landing, a communication link with the unmanned aerial vehicle;
taking off, by the ground control equipment for takeoff and landing, controlling the unmanned aerial vehicle through the communication link;
changing, by the ground control equipment for take-off and landing, control of the communication link to the ground control equipment for mission; and
Allocating, by the ground control equipment for a mission, an additional frequency required for the mission of the UAV, and changing the transmission rate for the UAV according to the additional frequency
including,
The step of changing the transmission rate comprises:
checking the location of the unmanned aerial vehicle to determine whether the unmanned aerial vehicle has arrived at a mission start path point;
determining, by the ground control equipment for the mission, a frequency and bandwidth required for the mission according to the mission of the UAV when the UAV arrives at the mission start path point;
transmitting a frequency occupancy new assignment request message according to the frequency and bandwidth determined by the ground control equipment for the mission to the frequency manager server;
receiving, by the mission ground control equipment, a new frequency occupation map generated according to the frequency occupation new allocation request message from the frequency manager server; and
Changing the frequency and transmission rate of the communication link between the ground control equipment for the mission and the UAV according to the new frequency occupation map by the ground control equipment for the mission
UAV frequency allocation method comprising a. establishing, by the ground control equipment for take-off and landing, a communication link with the unmanned aerial vehicle;
taking off, by the ground control equipment for takeoff and landing, controlling the unmanned aerial vehicle through the communication link;
changing, by the ground control equipment for take-off and landing, control of the communication link to the ground control equipment for mission;
allocating, by the ground control equipment for a mission, an additional frequency necessary for the mission performance of the UAV, and changing a transmission rate for the UAV according to the additional frequency;
checking, by the ground control equipment for the mission, whether the mission of the unmanned aerial vehicle is terminated;
when the mission of the UAV is finished, the ground control equipment for the mission releasing the occupation of the additional frequency and reallocating the frequency assigned to the UAV;
changing the transmission rate for the UAV according to the reassigned frequency by the ground control equipment for the mission;
changing, by the mission ground control equipment, control of the communication link to the takeoff and landing ground control equipment;
Landing the UAV by controlling the UAV with the communication link by the ground control equipment for takeoff and landing; and
Disconnecting, by the ground control equipment for takeoff and landing, the communication link with the unmanned aerial vehicle
UAV frequency allocation method comprising a. 10. The method of claim 9,
The step of changing the control right to ground control equipment for takeoff and landing includes:
checking, by the ground control equipment for the mission, the location of the unmanned aerial vehicle to determine whether the unmanned aerial vehicle has arrived at a control change route point;
transmitting, by the ground control equipment for the mission, a frequency control change request message to the ground control equipment for different missions and the ground control equipment for takeoff and landing, when the unmanned aerial vehicle arrives at the control change route point; and
When the ground control equipment for different missions and the ground control equipment for takeoff and landing approve the frequency control change request message, the ground control equipment for the mission changes control of the communication link to the ground control equipment for takeoff and landing
UAV frequency allocation method comprising a. 10. The method of claim 9,
The step of changing the control right to ground control equipment for takeoff and landing includes:
checking, by the ground control equipment for the mission, the location of the unmanned aerial vehicle to determine whether the unmanned aerial vehicle has arrived at a control change route point;
transmitting, by the ground control equipment for the mission, a frequency control right change request message to a frequency manager server when the unmanned aerial vehicle arrives at a control right change route point;
receiving, by the ground control equipment for the mission, a new frequency occupation map generated by changing the control right of the communication link to the ground control equipment for takeoff and landing from the frequency manager server; and
Changing, by the ground control equipment for the mission, the control right of the communication link to the ground control equipment for takeoff and landing according to the new frequency occupancy map
UAV frequency allocation method comprising a. 10. The method of claim 9,
The step of releasing the communication link comprises:
checking whether the landing of the unmanned aerial vehicle has been completed;
releasing, by the ground control equipment for take-off and landing, a communication link between the ground control equipment for take-off and landing and the unmanned aerial vehicle when the landing of the unmanned aerial vehicle is completed;
transmitting, by the ground control equipment for take-off and landing, a frequency occupancy release request message for the frequency used in the communication link to different ground control equipment for take-off and landing and the ground control equipment for the mission; and
The step of releasing the occupation of the frequency used for the communication link by the ground control equipment for takeoff and landing, the different ground control equipment for takeoff and landing, and the ground control equipment for the mission
UAV frequency allocation method comprising a. 10. The method of claim 9,
The step of changing the transmission rate comprises:
checking whether the landing of the unmanned aerial vehicle has been completed;
releasing, by the ground control equipment for take-off and landing, a communication link between the ground control equipment for take-off and landing and the unmanned aerial vehicle when the landing of the unmanned aerial vehicle is completed;
transmitting, by the ground control equipment for take-off and landing, a frequency occupancy release request message for a frequency used in the communication link to a frequency manager server;
receiving, by the ground control equipment for take-off and landing, a new frequency occupancy map generated according to the frequency occupancy release request message from the frequency manager server; and
releasing, by the ground control equipment for take-off and landing, the occupation of the frequency used for the communication link according to the new frequency occupation map;
UAV frequency allocation method comprising a. A computer-readable recording medium in which a program for executing the method of any one of claims 1 to 13 is recorded. a ground control device for take-off and landing for opening a communication link with the UAV, controlling the UAV with the communication link to take off the UAV, and changing control of the communication link to ground control equipment for mission; and
Ground control equipment for mission that allocates an additional frequency necessary for the mission performance of the UAV and changes the transmission rate for the UAV according to the additional frequency
including,
The ground control device for takeoff and landing,
Determining the minimum frequency and bandwidth required to control the UAV, and transmitting a new frequency occupancy request message according to the determined frequency and bandwidth to different ground control equipment for take-off and landing and ground control equipment for the mission;
When the different ground control equipment for take-off and landing and the ground control equipment for the mission approve a new frequency occupancy assignment request message, communication between the ground control equipment for take-off and landing and the unmanned aerial vehicle according to the frequency and bandwidth determined by the ground control equipment for take-off and landing UAV frequency allocation system that establishes a link. delete a ground control device for take-off and landing for opening a communication link with the UAV, controlling the UAV with the communication link to take off the UAV, and changing control of the communication link to ground control equipment for mission; and
Ground control equipment for mission that allocates an additional frequency necessary for the mission performance of the UAV and changes the transmission rate for the UAV according to the additional frequency
including,
The ground control device for takeoff and landing,
Determining the minimum frequency and bandwidth required for controlling the UAV, and transmitting a frequency occupancy new allocation request message according to the determined frequency and bandwidth to the frequency manager server,
When receiving a new frequency occupation map generated according to the frequency occupation new allocation request message from the frequency manager server, the ground control equipment for take-off and landing establishes a communication link between the ground control equipment for take-off and landing and the unmanned aerial vehicle according to the new frequency occupation map UAV frequency allocation system to outline. a ground control device for take-off and landing for opening a communication link with the UAV, controlling the UAV with the communication link to take off the UAV, and changing control of the communication link to ground control equipment for mission; and
Ground control equipment for mission that allocates an additional frequency necessary for the mission performance of the UAV and changes the transmission rate for the UAV according to the additional frequency
including,
The ground control device for takeoff and landing,
Check the location of the UAV to check whether the UAV has arrived at the control change route point,
When the unmanned aerial vehicle arrives at the control change route point, it transmits a frequency control change request message to different ground control equipment for takeoff and landing and the ground control equipment for the mission,
When the different ground control equipment for takeoff and landing and the ground control equipment for the mission approve the frequency control change request message, the UAV frequency allocation system for changing the control right of the communication link to the ground control equipment for the mission. a ground control device for take-off and landing for opening a communication link with the UAV, controlling the UAV with the communication link to take off the UAV, and changing control of the communication link to ground control equipment for mission; and
Ground control equipment for mission that allocates an additional frequency necessary for the mission performance of the UAV and changes the transmission rate for the UAV according to the additional frequency
including,
The ground control device for takeoff and landing,
Check the location of the UAV to check whether the UAV has arrived at the control change route point,
When the unmanned aerial vehicle arrives at the control change route point, it transmits a frequency control right change request message to the frequency manager server,
When receiving a new frequency occupation map created by changing the control right of the communication link to the mission ground control equipment from the frequency manager server, the unmanned aerial vehicle that changes the control of the communication link to the mission ground control equipment according to the new frequency occupation map frequency allocation system. a ground control device for take-off and landing for opening a communication link with the UAV, controlling the UAV with the communication link to take off the UAV, and changing control of the communication link to ground control equipment for mission; and
Ground control equipment for mission that allocates an additional frequency necessary for the mission performance of the UAV and changes the transmission rate for the UAV according to the additional frequency
including,
The ground control equipment for the mission includes:
Check the location of the UAV to check whether the UAV has arrived at the mission start route point,
When the UAV arrives at the mission start path point, the frequency and bandwidth required for the mission are determined according to the mission of the UAV, and a frequency occupation new assignment request message according to the determined frequency and bandwidth is transmitted to the ground control equipment for different missions and the to the ground control equipment for takeoff and landing;
When the ground control equipment for different missions and the ground control equipment for take-off and landing approve the new frequency occupancy allocation request message, the frequency and transmission rate of the communication link between the ground control equipment for the mission and the UAV are changed according to the determined frequency and bandwidth UAV frequency allocation system. a ground control device for take-off and landing for opening a communication link with the UAV, controlling the UAV with the communication link to take off the UAV, and changing control of the communication link to ground control equipment for mission; and
Ground control equipment for mission that allocates an additional frequency necessary for the mission performance of the UAV and changes the transmission rate for the UAV according to the additional frequency
including,
The ground control equipment for the mission includes:
Check the location of the UAV to check whether the UAV has arrived at the mission start route point,
When the UAV arrives at the mission start path point, the frequency and bandwidth required for the mission are determined according to the mission of the UAV, and a frequency occupancy new allocation request message according to the determined frequency and bandwidth is transmitted to the frequency manager server,
When receiving a new frequency occupancy map generated according to the frequency occupancy new assignment request message from the frequency manager server, the unmanned aerial vehicle changes the frequency and transmission rate of the communication link between the mission ground control equipment and the UAV according to the new frequency occupancy map frequency allocation system. a ground control device for take-off and landing for opening a communication link with the UAV, controlling the UAV with the communication link to take off the UAV, and changing control of the communication link to ground control equipment for mission; and
Ground control equipment for mission that allocates an additional frequency necessary for the mission performance of the UAV and changes the transmission rate for the UAV according to the additional frequency
including,
The ground control equipment for the mission includes:
It is checked whether the mission of the UAV is terminated, and when the mission of the UAV is terminated, the ground control equipment for the mission releases the occupation of the additional frequency to reallocate the frequency allocated to the UAV, changing the transmission rate for the unmanned aerial vehicle according to the frequency, and changing the control right of the communication link to the ground control equipment for takeoff and landing;
The ground control equipment for takeoff and landing,
A UAV frequency allocation system for controlling the UAV with the communication link to land the UAV and releasing the communication link with the UAV. 23. The method of claim 22,
The ground control equipment for takeoff and landing,
Checking whether the landing of the UAV is complete, and when the landing of the UAV is completed, release the communication link between the ground control equipment for takeoff and landing and the UAV,
When a frequency occupation release request message for the frequency used in the communication link is transmitted to the frequency manager server, and a new frequency occupation map generated according to the frequency occupation release request message is received from the frequency manager server, a new frequency occupation map UAV frequency allocation system to release the occupation of the frequency used for the communication link according to the.

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