CN114302494A - UAV system for locating communication terminals - Google Patents
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
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- G01J5/0022—Radiation pyrometry, e.g. infrared or optical thermometry for sensing the radiation of moving bodies
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- G—PHYSICS
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- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/48—Thermography; Techniques using wholly visual means
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/10—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from different wavelengths
- H04N23/11—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from different wavelengths for generating image signals from visible and infrared light wavelengths
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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Abstract
Description
Translated fromChinese技术领域technical field
本公开涉及一种用于定位通信终端的无人机系统。The present disclosure relates to an unmanned aerial vehicle system for locating a communication terminal.
背景技术Background technique
随着无人机技术的发展，各种类型的无人机已经广泛应用于各行业中，提高了各行业的工作效率，并且节省了人力、物力的消耗。With the development of UAV technology, various types of UAVs have been widely used in various industries, which improves the work efficiency of various industries and saves the consumption of manpower and material resources.
近年来，无人机在搜寻遗失的手机等通信终端和搜救失踪人员等领域也得到了迅猛的发展。In recent years, drones have also developed rapidly in the fields of searching for lost mobile phones and other communication terminals and searching and rescuing missing persons.
目前，用于搜寻的无人机系统必须具有2架或者2架以上的无人机，并且无人机系统进行搜寻时，需要利用2架或者2架以上的无人机在不同位置探测目标方位，然后运用三角几何原理确定目标的位置和距离。At present, the UAV system used for search must have 2 or more UAVs, and when the UAV system searches, it needs to use 2 or more UAVs to detect the target orientation at different positions , and then use the principles of trigonometric geometry to determine the location and distance of the target.
但是，这种无人机系统需要同时操作多架无人机，并且需要使多架无人机的行动相互配合，因此配合过程复杂繁琐，操作困难，同时花费的成本也比较高。However, this UAV system needs to operate multiple UAVs at the same time, and needs to coordinate the actions of the multiple UAVs with each other, so the coordination process is complicated and cumbersome, the operation is difficult, and the cost is relatively high.
发明内容SUMMARY OF THE INVENTION
本公开有鉴于上述现有技术的状况而完成，其目的在于提供一种用于定位通信终端的无人机系统。The present disclosure is made in view of the above-mentioned state of the art, and an object of the present disclosure is to provide an unmanned aerial vehicle system for locating a communication terminal.
为此，本公开提供了一种用于定位通信终端的无人机系统，所述无人机系统包括定向天线、定位基站和无人机，所述定向天线配置为能够旋转以接收不同方向的信号；所述定位基站包括抓取模块，信号强度测量模块以及信号强度比较模块，所述抓取模块持续变更所述定位基站的广播信息的TAC和CellID以使所述通信终端持续重复接入所述定位基站；若所述通信终端接入所述定位基站，所述定向天线旋转并且所述信号强度测量模块持续测量所述通信终端的信号强度并存储所述信号强度；所述信号强度比较模块获取所述信号强度的最强值并确定最强信号强度对应的方向为所述通信终端所在的方向；所述无人机配置为搭载所述定位基站和所述定向天线。在这种情况下，本公开涉及的无人机系统能够提高定位效率，并且能够降低成本。To this end, the present disclosure provides an unmanned aerial vehicle system for positioning a communication terminal, the unmanned aerial vehicle system includes a directional antenna, a positioning base station and an unmanned aerial vehicle, the directional antenna is configured to be able to rotate to receive signals in different directions Signal; the positioning base station includes a grabbing module, a signal strength measurement module and a signal strength comparison module, and the grabbing module continuously changes the TAC and CellID of the broadcast information of the positioning base station so that the communication terminal continues to repeatedly access the the positioning base station; if the communication terminal accesses the positioning base station, the directional antenna rotates and the signal strength measurement module continuously measures the signal strength of the communication terminal and stores the signal strength; the signal strength comparison module The strongest value of the signal strength is acquired, and the direction corresponding to the strongest signal strength is determined as the direction in which the communication terminal is located; the drone is configured to carry the positioning base station and the directional antenna. In this case, the UAV system involved in the present disclosure can improve the positioning efficiency and can reduce the cost.
另外，在本公开所涉及的无人机系统中，可选地，所述定向天线下倾角配置为第一预设角度。在这种情况下，能够使定向天线更好地接收的信号。In addition, in the unmanned aerial vehicle system involved in the present disclosure, optionally, the downtilt angle of the directional antenna is configured as a first preset angle. In this case, the signal can be better received by the directional antenna.
另外，在本公开所涉及的无人机系统中，可选地，所述定向天线波瓣水平角度配置为30～45度。在这种情况下，能够使定向天线接收距离更远的信号。In addition, in the unmanned aerial vehicle system involved in the present disclosure, optionally, the horizontal angle of the lobe of the directional antenna is configured to be 30-45 degrees. In this case, the directional antenna can be made to receive signals at longer distances.
另外，在本公开所涉及的无人机系统中，可选地，所述定位基站还包括轮循变频模块，所述轮循变频模块配置为能够持续变换所述定位基站的广播信号的频率，所述轮循变频模块在所述通信终端接入所述定位基站后自动停止变频。在这种情况下，不同运营商的通信终端都能够识别并接入定位基站。In addition, in the unmanned aerial vehicle system involved in the present disclosure, optionally, the positioning base station further includes a cyclic frequency conversion module, and the cyclic frequency conversion module is configured to continuously change the frequency of the broadcast signal of the positioning base station, The round-robin frequency conversion module automatically stops frequency conversion after the communication terminal accesses the positioning base station. In this case, communication terminals of different operators can identify and access the positioning base station.
另外，在本公开所涉及的无人机系统中，可选地，所述定位基站还包括定位名单，所述定位名单记录着被搜寻的所述通信终端的唯一识别码。在这种情况下，便于后续定位基站判断接入的通信终端是否为需要被搜寻的通信终端。In addition, in the unmanned aerial vehicle system involved in the present disclosure, optionally, the positioning base station further includes a positioning list, and the positioning list records the unique identification code of the searched communication terminal. In this case, it is convenient for the subsequent positioning base station to determine whether the accessed communication terminal is the communication terminal that needs to be searched.
另外，在本公开所涉及的无人机系统中，可选地，所述无人机系统还包括摄像头组、客户前置设备、通信基站和管理平台，摄像头组包括光摄像头和热成像摄像头。在这种情况下，当无人机靠近通信终端时，操作人员能够通过摄像头观察附近地形以确定通信终端最终位置。In addition, in the UAV system involved in the present disclosure, optionally, the UAV system further includes a camera group, a customer front-end device, a communication base station and a management platform, and the camera group includes a light camera and a thermal imaging camera. In this case, when the drone is close to the communication terminal, the operator can observe the nearby terrain through the camera to determine the final position of the communication terminal.
另外，在本公开所涉及的无人机系统中，可选地，所述通信基站为专网通信基站或使用运营商网络的普通基站。在这种情况下，当通信基站为专网通信基站时，操作人员能够通过专网实现通信基站与管理平台的通信，安全可靠。当通信基站为使用运营商网络的普通基站时，通信基站能够通过运营商核心网实现通信基站与管理平台的通信。In addition, in the unmanned aerial vehicle system involved in the present disclosure, optionally, the communication base station is a private network communication base station or a common base station using an operator network. In this case, when the communication base station is a private network communication base station, the operator can realize the communication between the communication base station and the management platform through the private network, which is safe and reliable. When the communication base station is an ordinary base station using the operator's network, the communication base station can realize the communication between the communication base station and the management platform through the operator's core network.
另外，在本公开所涉及的无人机系统中，可选地，所述管理平台接收并显示所述定位基站测量到的信号强度信息和所述摄像头组的影像信息。在这种情况下，便于管理平台实时获取通信终端所在的方向和附近地形。In addition, in the unmanned aerial vehicle system involved in the present disclosure, optionally, the management platform receives and displays the signal strength information measured by the positioning base station and the image information of the camera group. In this case, it is convenient for the management platform to obtain the direction and nearby terrain of the communication terminal in real time.
另外，在本公开所涉及的无人机系统中，可选地，所述管理平台用于配置所述定位基站的频点、物理小区标识码、跟踪区编码、公共陆地移动网和功率；所述管理平台配置为能够录入所述定位名单。在这种情况下，便于操作人员通过管理平台远程配置定位基站。In addition, in the unmanned aerial vehicle system involved in the present disclosure, optionally, the management platform is configured to configure the frequency point, physical cell identification code, tracking area code, public land mobile network and power of the positioning base station; The management platform is configured to be able to enter the positioning list. In this case, it is convenient for operators to remotely configure and locate the base station through the management platform.
另外，在本公开所涉及的无人机系统中，可选地，所述管理平台用于配置所述摄像头组的视频编码格式；所述管理平台配置为能够控制所述摄像头组的摄像头角度。在这种情况下，便于操作人员通过管理平台远程配置摄像头组。In addition, in the UAV system involved in the present disclosure, optionally, the management platform is configured to configure a video encoding format of the camera group; the management platform is configured to be able to control the camera angle of the camera group. In this case, it is convenient for the operator to configure the camera group remotely through the management platform.
根据本公开，提供一种能够降低成本和提高定位效率的定位通信终端的无人机系统。According to the present disclosure, an unmanned aerial vehicle system for positioning a communication terminal capable of reducing costs and improving positioning efficiency is provided.
附图说明Description of drawings
现在将仅通过参考附图的例子进一步详细地解释本公开的实施例，其中：Embodiments of the present disclosure will now be explained in further detail by way of example only with reference to the accompanying drawings, wherein:
图1示出了本公开所涉及的用于定位通信终端的无人机系统的使用场景示意图。FIG. 1 shows a schematic diagram of a usage scenario of the UAV system for locating a communication terminal involved in the present disclosure.
图2示出了本公开所涉及的用于定位通信终端的无人机系统的框图。FIG. 2 shows a block diagram of an unmanned aerial vehicle system for locating a communication terminal according to the present disclosure.
图3示出了本公开所涉及的用于定位通信终端的无人机系统的定位基站的框图。FIG. 3 shows a block diagram of a positioning base station of an unmanned aerial vehicle system for positioning a communication terminal according to the present disclosure.
图4示出了本公开所涉及的用于定位通信终端的无人机系统另一种实施例的框图。FIG. 4 shows a block diagram of another embodiment of an unmanned aerial vehicle system for locating a communication terminal according to the present disclosure.
图5示出了本公开所涉及的搜寻通信终端的方法的流程图。FIG. 5 shows a flowchart of a method for searching for a communication terminal involved in the present disclosure.
图6示出了本公开所涉及的搜寻通信终端的方法的划分搜索区域的方法的流程图。FIG. 6 shows a flowchart of a method for dividing a search area in the method for searching for a communication terminal according to the present disclosure.
图7示出了本公开所涉及的搜寻通信终端的方法的确定通信终端所在的搜索区域的方法的流程图。FIG. 7 shows a flowchart of a method for determining a search area where a communication terminal is located in the method for searching for a communication terminal according to the present disclosure.
具体实施方式Detailed ways
以下，参考附图，详细地说明本公开的优选实施方式。在下面的说明中，对于相同的部件赋予相同的符号，省略重复的说明。另外，附图只是示意性的图，部件相互之间的尺寸的比例或者部件的形状等可以与实际的不同。Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the following description, the same reference numerals are assigned to the same components, and overlapping descriptions are omitted. In addition, the drawings are only schematic diagrams, and the ratios of the dimensions of the members, the shapes of the members, and the like may be different from the actual ones.
本公开涉及一种用于定位通信终端的无人机系统。本公开所涉及的一种用于定位通信终端的无人机系统可以简称为无人机系统。The present disclosure relates to an unmanned aerial vehicle system for locating a communication terminal. An unmanned aerial vehicle system for locating a communication terminal involved in the present disclosure may be referred to as an unmanned aerial vehicle system for short.
图1示出了本公开涉及的用于定位通信终端2的无人机系统1的使用场景示意图。如图1所示，本公开所涉及的无人机系统1可以用于定位并搜寻通信终端2。通过定位和搜寻通信终端2，无人机系统1还可以定位和搜寻通信终端2的使用者或附近的待搜救者。由此，本公开所涉及的无人机系统1可以用于搜寻遗失的手机等通信终端2，也可以用于搜寻失踪的被困人员。本公开所涉及的无人机系统1能够提高定位效率，并且能够降低成本。FIG. 1 shows a schematic diagram of a usage scenario of the UAV system 1 for locating the communication terminal 2 involved in the present disclosure. As shown in FIG. 1 , the UAV system 1 involved in the present disclosure can be used to locate and search for the communication terminal 2 . By locating and searching for the communication terminal 2 , the UAV system 1 can also locate and search for the user of the communication terminal 2 or the person to be searched and rescued nearby. Therefore, the unmanned aerial vehicle system 1 involved in the present disclosure can be used to search for lost communication terminals 2 such as mobile phones, and can also be used to search for lost and trapped persons. The UAV system 1 involved in the present disclosure can improve positioning efficiency and reduce costs.
在一些示例中，通信终端2可以为手机，可使用运营商网络的平板电脑，可使用运营商网络的智能手表，随身wifi中的一种。In some examples, the communication terminal 2 may be a mobile phone, a tablet computer that can use an operator's network, a smart watch that can use an operator's network, or one of portable wifi.
图2示出了本公开所涉及的用于定位通信终端2的无人机系统1的框图。FIG. 2 shows a block diagram of the UAV system 1 for locating the communication terminal 2 according to the present disclosure.
在本实施方式中，如图2所示，无人机系统1可以包括定向天线10、定位基站11和无人机12。In this embodiment, as shown in FIG. 2 , the UAV system 1 may include a directional antenna 10 , a positioning base station 11 and an UAV 12 .
在本实施方式中，定向天线10可以旋转，从而能够接收不同方向的信号。由此，有利于定位基站11测量不同方向上的通信终端2的接收信号强度指示(Received SignalStrength Indication，RSSI)。In this embodiment, the directional antenna 10 can be rotated to receive signals in different directions. Therefore, it is helpful for the positioning base station 11 to measure the Received Signal Strength Indication (RSSI) of the communication terminal 2 in different directions.
在一些示例中，定向天线10可以为窄波束天线或八木天线。由此，能够有效地接收指定方向的信号，也即定位基站11测量到的RSSI能够和方向一一对应。In some examples, directional antenna 10 may be a narrow beam antenna or a Yagi antenna. In this way, the signal of the specified direction can be effectively received, that is, the RSSI measured by the positioning base station 11 can be in a one-to-one correspondence with the direction.
在一些示例中，定向天线10的下倾角可以为第一预设角度。在一些示例中，第一预设角度可以为30度或45度。由此，能够使定向天线10更好地接收信号。In some examples, the downtilt angle of the directional antenna 10 may be a first preset angle. In some examples, the first preset angle may be 30 degrees or 45 degrees. Thereby, the directional antenna 10 can better receive signals.
在一些示例中，定向天线10的波瓣水平角可以为30～45度。由此，能够使定向天线10接收更远距离的信号。In some examples, the horizontal angle of the lobes of the directional antenna 10 may be 30-45 degrees. Thereby, the directional antenna 10 can receive a signal at a longer distance.
图3示出了本公开所涉及的用于定位通信终端2的无人机系统1的定位基站11的框图。FIG. 3 shows a block diagram of the positioning base station 11 of the UAV system 1 for positioning the communication terminal 2 according to the present disclosure.
在本实施方式中，定位基站11可以包括抓取模块110、信号强度测量模块111、信号强度比较模块112。In this embodiment, the positioning base station 11 may include a capture module 110 , a signal strength measurement module 111 , and a signal strength comparison module 112 .
在本实施方式中，抓取模块110可以持续变更定位基站11的广播信息的跟踪区编码(Tracking Area Code，TAC)和小区标识(Cell Identity)。从而通信终端2可以持续重复接入定位基站11。具体而言，由于定位基站11的广播信息的TAC和CellId一直变更，通信终端2将持续认为原小区基站已消失，需要重新接入新的小区基站。由此，通信终端2将持续重复接入定位基站11。在这种情况下，定位基站11能够抓取到通信终端2，从而使其不能接入到附近的其他基站。由于通信终端2在接入定位基站11时，定位基站11才能测量RSSI，由此能够便于定位基站11后续对通信终端2进行多次RSSI测量。In this embodiment, the capture module 110 can continuously change the tracking area code (Tracking Area Code, TAC) and cell identity (Cell Identity) of the broadcast information of the positioning base station 11 . Therefore, the communication terminal 2 can continuously and repeatedly access the positioning base station 11 . Specifically, since the TAC and CellId of the broadcast information of the positioning base station 11 are constantly changing, the communication terminal 2 will continue to think that the original cell base station has disappeared and needs to re-access a new cell base station. Therefore, the communication terminal 2 will continue to repeatedly access the positioning base station 11 . In this case, the positioning base station 11 can capture the communication terminal 2, so that it cannot access other nearby base stations. Since the positioning base station 11 can measure the RSSI only when the communication terminal 2 accesses the positioning base station 11 , it is convenient for the positioning base station 11 to perform multiple RSSI measurements on the communication terminal 2 subsequently.
在本实施方式中，信号强度测量模块111可以在通信终端2接入定位基站11时，测量通信终端2的RSSI。也即，通信终端2每次接入定位基站11时，定位基站11都会对RSSI进行测量。In this embodiment, the signal strength measurement module 111 may measure the RSSI of the communication terminal 2 when the communication terminal 2 accesses the positioning base station 11 . That is, every time the communication terminal 2 accesses the positioning base station 11, the positioning base station 11 will measure the RSSI.
在一些示例中，当定向天线10的旋转时，信号强度测量模块111可以持续测量不同方向上的通信终端2的RSSI，并存储测量到的RSSI。例如，定向天线10在水平方向上每旋转5度，信号强度测量模块111测量一次通信终端2的RSSI。当定向天线10旋转一周，信号强度测量模块111将测量到72个RSSI，将该72个RSSI提供给信号强度比较模块112以对各个RSSI进行比较。然后，定向天线10在垂直方向上旋转，每旋转5度，信号强度测量模块111测量一次通信终端2的RSSI。当定向天线10旋转90度，信号强度测量模块111将测量到18个RSSI，将该18个RSSI提供给信号强度比较模块112以对各个RSSI进行比较。由此，有利于后续定位基站11获取到最强的RSSI。In some examples, when the directional antenna 10 is rotated, the signal strength measurement module 111 may continuously measure the RSSI of the communication terminal 2 in different directions, and store the measured RSSI. For example, the signal strength measurement module 111 measures the RSSI of the communication terminal 2 every time the directional antenna 10 rotates by 5 degrees in the horizontal direction. When the directional antenna 10 rotates once, the signal strength measurement module 111 will measure 72 RSSIs, and provide the 72 RSSIs to the signal strength comparison module 112 to compare each RSSI. Then, the directional antenna 10 is rotated in the vertical direction, and the signal strength measurement module 111 measures the RSSI of the communication terminal 2 once every 5 degrees of rotation. When the directional antenna 10 is rotated by 90 degrees, the signal strength measurement module 111 will measure 18 RSSIs, and provide the 18 RSSIs to the signal strength comparison module 112 to compare the respective RSSIs. Therefore, it is beneficial for the subsequent positioning base station 11 to obtain the strongest RSSI.
在本实施方式中，信号强度比较模块112可以在信号强度测量模块111测量到各个方向的RSSI后，通过比较强弱的方式获取所测量的RSSI的最强值。再通过RSSI和方向的对应关系，确定RSSI最强值对应的方向。在这种情况下，由于通信终端2所在的方向的RSSI最强，因此能够确定通信终端2所在的方向。例如，定向天线10水平旋转，信号强度测量模块111可以测量到72个RSSI。信号强度比较模块112可以通过比较强弱的方式得到72个RSSI中最强的RSSI，并确定最强RSSI对应方向为通信终端2所在方向的水平方向。确定水平方向后，定向天线10在该水平方向上垂直旋转，信号强度测量模块111可以测量到18个RSSI。信号强度比较模块112以相同的比较方式得到18个RSSI中最强的RSSI，并确定最强RSSI对应的方向为通信终端2所在方向的垂直方向。最终，结合确定到的水平方向和垂直方向，可以确定通信终端2所在的方向。In this embodiment, the signal strength comparison module 112 may obtain the strongest value of the measured RSSI by comparing the strengths after the signal strength measurement module 111 measures the RSSIs in various directions. Then, through the correspondence between the RSSI and the direction, the direction corresponding to the strongest value of the RSSI is determined. In this case, since the RSSI of the direction in which the communication terminal 2 is located is the strongest, the direction in which the communication terminal 2 is located can be determined. For example, when the directional antenna 10 is rotated horizontally, the signal strength measurement module 111 can measure 72 RSSIs. The signal strength comparison module 112 can obtain the strongest RSSI among the 72 RSSIs by comparing the strengths, and determine that the direction corresponding to the strongest RSSI is the horizontal direction of the direction where the communication terminal 2 is located. After the horizontal direction is determined, the directional antenna 10 rotates vertically in the horizontal direction, and the signal strength measurement module 111 can measure 18 RSSIs. The signal strength comparison module 112 obtains the strongest RSSI among the 18 RSSIs in the same comparison manner, and determines that the direction corresponding to the strongest RSSI is the vertical direction of the direction where the communication terminal 2 is located. Finally, combining the determined horizontal direction and vertical direction, the direction in which the communication terminal 2 is located can be determined.
在一些示例中，定位基站11还可以包括轮循变频模块113。轮循变频模块113可以不断变更定位基站11的广播信号频率，以使通信终端2可以识别定位基站11，从而接入定位基站11。具体而言，不同运营商的基站使用的广播信号频率不相同，轮循变频模块113可以不断变更广播信号的频率以模仿不同运营商的基站，在这种情况下，不同运营商的通信终端2都能够识别并接入定位基站11。In some examples, the positioning base station 11 may also include a round-robin module 113 . The cyclic frequency conversion module 113 can continuously change the broadcast signal frequency of the positioning base station 11 , so that the communication terminal 2 can identify the positioning base station 11 and access the positioning base station 11 . Specifically, the frequencies of broadcast signals used by base stations of different operators are different, and the frequency conversion module 113 can continuously change the frequencies of the broadcast signals to imitate the base stations of different operators. In this case, the communication terminals 2 of different operators Both can identify and access the positioning base station 11 .
在一些示例中，通信终端2接入定位基站11后，轮循变频模块113将停止变更频率。然后，定位基站11的抓取模块110将持续抓取通信终端2。In some examples, after the communication terminal 2 accesses the positioning base station 11, the round-robin frequency conversion module 113 will stop changing the frequency. Then, the grasping module 110 of the positioning base station 11 will continue to grasp the communication terminal 2 .
在一些示例中，定位基站11的TAC可以配置为与运营商基站的TAC不同。另外，在一些示例中，定位基站11可以配置与运营商基站同频或者比其更高优先级的频点。定位基站11的信号强度可以比运营商基站信号强度高一个门限值。由此，有利于当通信终端2在接入到运营商基站后触发通信终端2的小区重选，以便于通信终端2接入定位基站11。In some examples, the TAC of the positioning base station 11 may be configured to be different from the TAC of the operator base station. In addition, in some examples, the positioning base station 11 may be configured with the same frequency as the operator's base station or a frequency with a higher priority. The signal strength of the positioning base station 11 may be higher than the signal strength of the operator's base station by a threshold value. Therefore, it is beneficial to trigger the cell reselection of the communication terminal 2 after the communication terminal 2 accesses the base station of the operator, so that the communication terminal 2 can access the positioning base station 11 .
在一些示例中，如上所述，运营商基站可以是GSM或CDMA中的基站(BTS，BaseTransceiver Station)，可以是WCDMA中的基站(NodeB)，也可以是LTE中的演进型基站(NodeB或eNB或e-NodeB，evolutional Node B)，还可以是5G中的基站(gNB)。也即是，可以接入上述基站的通信终端2都可以接入定位基站11。In some examples, as described above, the operator base station may be a base station (BTS, BaseTransceiver Station) in GSM or CDMA, a base station (NodeB) in WCDMA, or an evolved base station (NodeB or eNB) in LTE Or e-NodeB, evolutional Node B), it can also be a base station (gNB) in 5G. That is, all communication terminals 2 that can access the above-mentioned base stations can access the positioning base station 11 .
在一些示例中，无人机12可以搭载定向天线10和定位基站11，以便定位基站11在不同位置测量各个方向的通信终端2的RSSI。在一些示例中，无人机12可以根据指令进行移动。由此，能够有效地搜寻到通信终端2。In some examples, the drone 12 may carry a directional antenna 10 and a positioning base station 11 so that the positioning base station 11 measures the RSSI of the communication terminal 2 in various directions at different positions. In some examples, the drone 12 may move on command. Thereby, the communication terminal 2 can be found efficiently.
图4示出了本公开所涉及的用于定位通信终端2的无人机系统另一种实施例的框图。FIG. 4 shows a block diagram of another embodiment of the unmanned aerial vehicle system for locating the communication terminal 2 involved in the present disclosure.
在一些示例中，如图4所示，无人机系统1还可以包括摄像头组13、客户前置设备14、通信基站15和管理平台16。In some examples, as shown in FIG. 4 , the UAV system 1 may further include a camera group 13 , a customer premises equipment 14 , a communication base station 15 and a management platform 16 .
在一些示例中，摄像头组13可以包括光摄像头和热成像摄像头。在另一些示例中，摄像头组13可以包括1个、2个或3个摄像头。在一些示例中，光摄像头可以用于在无人机系统1靠近通信终端2时观察实际地形以搜寻通信终端2。在一些示例中，热成像摄像头可以用于在无人机系统1靠近通信终端2时搜寻通信终端2的使用者或附近的待搜救者。由此，能够通过无人机系统1完成搜寻任务。In some examples, camera group 13 may include a light camera and a thermal imaging camera. In other examples, camera group 13 may include 1, 2, or 3 cameras. In some examples, the light camera may be used to observe the actual terrain to search for the communication terminal 2 when the UAV system 1 approaches the communication terminal 2 . In some examples, a thermal imaging camera may be used to search for a user of the communication terminal 2 or a nearby person to be rescued when the UAV system 1 is close to the communication terminal 2 . Thereby, the search task can be completed by the UAV system 1 .
在一些示例中，定位基站11和摄像头组13获取到的信息可以通过有线传输的方式传输给客户前置设备14。具体而言，定位基站11、摄像头组13可以具有信号输出接口13a(未图示)，客户前置设备15可以具有信号输入接口15a(未图示)，信号输出接口13a与信号输入接口15a可以通过数据传输线对接以传输信息。客户前置设备14获取到信息后，通过无线传输的方式把该信息传输给通信基站15。另外，在一些示例中，客户前置设备14也可以通过无线传输的方式接收来自通信基站15的信息，并通过有线传输的方式传输给定位基站11和摄像头组13。由此，便于定位基站11和摄像头组13与通信基站15进行通信。In some examples, the information obtained by the positioning base station 11 and the camera group 13 may be transmitted to the customer front-end device 14 by means of wired transmission. Specifically, the positioning base station 11 and the camera group 13 may have a signal output interface 13a (not shown), the customer front-end device 15 may have a signal input interface 15a (not shown), and the signal output interface 13a and the signal input interface 15a may be Docking through data transmission lines to transmit information. After acquiring the information, the customer front-end device 14 transmits the information to the communication base station 15 by means of wireless transmission. In addition, in some examples, the customer premises equipment 14 can also receive the information from the communication base station 15 through wireless transmission, and transmit it to the positioning base station 11 and the camera group 13 through wired transmission. Therefore, it is convenient for the positioning base station 11 and the camera group 13 to communicate with the communication base station 15 .
在一些示例中，通信基站15一侧可以通过无线传输的方式与客户前置设备14通信。通信基站15另一侧可以通过运营商核心网或专网与管理平台16通信。另外，如上所述，客户前置设备14通过有线传输的方式与定位基站11和摄像头组13通信。由此，能够使定位基站11和摄像头组13、客户前置设备14、通信基站15与管理平台16之间组成稳定的通信链路，在这种情况下，定位基站11和摄像头组13能够与管理平台16进行通信。定位基站11和摄像头组13可以向管理平台16发送定位基站11测量到的RSSI信息和摄像头组13的影像信息。管理平台16可以向定位基站11发送定位基站11的配置信息和定位名单信息。定位名单记录着需要搜寻的通信终端2的唯一识别码。具体而言，通信终端2为手机时，唯一识别码可以为手机的IMSI码。管理平台16可以向摄像头组13发送摄像头组13的配置信息和控制信息。配置信息包括摄像头组13的视频格式参数。控制信息包括摄像头组13的摄像头角度。In some examples, the communication base station 15 side may communicate with the customer premises equipment 14 by means of wireless transmission. The other side of the communication base station 15 can communicate with the management platform 16 through the operator's core network or private network. In addition, as described above, the customer front-end equipment 14 communicates with the positioning base station 11 and the camera group 13 by means of wired transmission. Therefore, a stable communication link can be formed between the positioning base station 11 and the camera group 13, the customer front-end equipment 14, the communication base station 15 and the management platform 16. In this case, the positioning base station 11 and the camera group 13 can communicate with The management platform 16 communicates. The positioning base station 11 and the camera group 13 can send the RSSI information measured by the positioning base station 11 and the image information of the camera group 13 to the management platform 16 . The management platform 16 may send the configuration information and the positioning list information of the positioning base station 11 to the positioning base station 11 . The location list records the unique identification code of the communication terminal 2 to be searched. Specifically, when the communication terminal 2 is a mobile phone, the unique identification code may be the IMSI code of the mobile phone. The management platform 16 may send the configuration information and control information of the camera group 13 to the camera group 13 . The configuration information includes video format parameters of the camera group 13 . The control information includes the camera angles of the camera group 13 .
在一些示例中，通信基站15可以移动，具体而言，通信基站15可以配置在一个移动设备上。例如，通信基站15可以配置在汽车上。在这种情况下，能够利用汽车将通信基站15转移到各个区域。但是本发明不限于此，通信基站15也可以配置在其他载具上。在一些示例中，通信基站15可以为专网通信基站，由此，通信基站15通过专网与管理平台16通信。在另一些示例中，通信基站15可以为运营商通用基站，由此，通信基站15通过运营商核心网与管理平台16通信。In some examples, the communication base station 15 may be mobile, and in particular, the communication base station 15 may be configured on a mobile device. For example, the communication base station 15 may be configured on an automobile. In this case, the communication base station 15 can be transferred to each area by a car. However, the present invention is not limited to this, and the communication base station 15 may also be configured on other vehicles. In some examples, the communication base station 15 may be a private network communication base station, whereby the communication base station 15 communicates with the management platform 16 through the private network. In other examples, the communication base station 15 may be an operator's general base station, so that the communication base station 15 communicates with the management platform 16 through the operator's core network.
在一些示例中，管理平台16用于接收并显示定位基站11的RSSI信息和摄像头组13的影像信息。具体而言，管理平台16可以显示定位基站11测量的各个方向的RSSI。在一些示例中，管理平台16可以显示强度最大的RSSI所对应的方向。在一些示例中，管理平台16还可以实时显示摄像头组13拍摄到的影像。In some examples, the management platform 16 is configured to receive and display the RSSI information of the positioning base station 11 and the image information of the camera group 13 . Specifically, the management platform 16 can display the RSSI in each direction measured by the positioning base station 11 . In some examples, management platform 16 may display the direction corresponding to the RSSI with the greatest intensity. In some examples, the management platform 16 can also display the images captured by the camera group 13 in real time.
在一些示例中，管理平台16用于管理和配置定位基站11。管理平台16可以配置定位基站11的参数。具体而言，操作人员可以通过管理平台16配置定位基站11的频点、物理小区标识码(Physical Cell Identifier，PCI)、跟踪区编码(Tracking Area Code，TAC)、公共陆地移动网(public land mobile network，PLMN)和功率，但本发明的示例不限于此。同时，操作人员可以通过管理平台16配置定位基站11的定位名单。例如，当通信终端2为手机时，操作人员可以将需要搜寻的手机的IMSI码录入到管理平台16并发送至定位基站11。In some examples, management platform 16 is used to manage and configure positioning base station 11 . The management platform 16 can configure the parameters of the positioning base station 11 . Specifically, the operator can configure the frequency point, physical cell identifier (PCI), tracking area code (TAC), public land mobile network (public land mobile network) of the base station 11 through the management platform 16 network, PLMN) and power, but examples of the present invention are not limited thereto. Meanwhile, the operator can configure the positioning list of the positioning base station 11 through the management platform 16 . For example, when the communication terminal 2 is a mobile phone, the operator can enter the IMSI code of the mobile phone to be searched into the management platform 16 and send it to the positioning base station 11 .
在一些示例中，若有手机接入到定位基站11时，定位基站11判断该手机的IMSI码是否在定位名单上。若该手机的IMSI码在定位名单上，则可以确定该手机为需要搜寻的手机。反之，则释放该手机并拒绝该手机再次接入定位基站11。In some examples, when a mobile phone accesses the positioning base station 11, the positioning base station 11 determines whether the IMSI code of the mobile phone is on the positioning list. If the IMSI code of the mobile phone is on the positioning list, it can be determined that the mobile phone is the mobile phone to be searched. Otherwise, the mobile phone is released and the mobile phone is refused to access the positioning base station 11 again.
在一些示例中，管理平台16可以用于管理和配置摄像头组13。如上所述，管理平台16可以向摄像头组13发送摄像头组13的配置信息和控制信息。在一些示例中，管理平台16可以配置摄像头组13的视频格式。管理平台16还可以控制摄像头组13的摄像头角度。In some examples, management platform 16 may be used to manage and configure camera group 13 . As described above, the management platform 16 can send the configuration information and control information of the camera group 13 to the camera group 13 . In some examples, management platform 16 may configure the video format of camera group 13 . The management platform 16 can also control the camera angles of the camera group 13 .
在一些示例中，管理平台16可以为运行在联网设备上的应用程序软件。联网设备可以为电脑、手机和平板电脑中的一种。在另一些示例中，管理平台16可以为能够联网的智能设备，该智能设备可以具有显示屏和控制按钮。In some examples, management platform 16 may be application software running on networked devices. The networked device can be one of a computer, a mobile phone, and a tablet. In other examples, the management platform 16 may be a network-enabled smart device, which may have a display screen and control buttons.
本实施方式的另一方面，涉及一种搜寻通信终端2的方法。Another aspect of the present embodiment relates to a method of searching for a communication terminal 2 .
图5示出了本公开所涉及的一种搜寻通信终端2的方法的流程图。FIG. 5 shows a flowchart of a method for searching for a communication terminal 2 involved in the present disclosure.
在本实施方式中，本公开涉及的一种通信终端2的搜寻方法可以包括以下步骤。划分搜索区域(步骤S1)，管理平台录入定位名单(步骤S2)，确定通信终端2所在的搜索区域(步骤S3)，抓取通信终端2(步骤S4)，确定通信终端2方向并移动(步骤S5)，搜寻通信终端2(步骤S6)。In this embodiment, a search method for a communication terminal 2 involved in the present disclosure may include the following steps. Divide the search area (step S1), enter the positioning list (step S2) on the management platform, determine the search area where the communication terminal 2 is located (step S3), grab the communication terminal 2 (step S4), determine the direction of the communication terminal 2 and move (step S4) S5), the communication terminal 2 is searched (step S6).
在步骤S1中，划分搜索区域。In step S1, the search area is divided.
图6示出了本公开所涉及的一种搜寻通信终端2的方法的划分搜索区域的方法的流程图。FIG. 6 shows a flowchart of a method for dividing a search area in a method for searching for a communication terminal 2 involved in the present disclosure.
在本实施方式中，如图6所示，步骤S1包括以下步骤。In this embodiment, as shown in FIG. 6 , step S1 includes the following steps.
在步骤S10中，确定第一搜索范围。第一搜索范围为通信终端2的大致范围。具体而言，可以根据通信终端2最后出现的位置，确定第一搜救范围。在一些示例中，当通信终端2为手机时，可以将与手机最后通信的基站的位置作为通信终端2最后出现的位置，由此确定第一搜救范围。In step S10, a first search range is determined. The first search range is an approximate range of the communication terminal 2 . Specifically, the first search and rescue range can be determined according to the last position of the communication terminal 2 . In some examples, when the communication terminal 2 is a mobile phone, the location of the base station that communicates with the mobile phone last can be taken as the last location of the communication terminal 2, thereby determining the first search and rescue range.
在步骤S11中，判断第一搜索范围是否大于通信基站15的覆盖范围。如果第一搜索范围大于通信基站15的覆盖范围，则实施步骤S12。反之，则实施步骤S13。In step S11 , it is determined whether the first search range is larger than the coverage range of the communication base station 15 . If the first search range is larger than the coverage range of the communication base station 15, step S12 is implemented. Otherwise, step S13 is implemented.
在步骤S12中，划分第一搜索范围得到第二搜索范围，再划分第二搜索范围得到第三搜索范围。具体而言，将第一搜索范围划分成多个通信基站15可以完全覆盖的第二搜索范围。在一些示例中，多个第二搜索范围可以具有重合区域。In step S12, the first search range is divided to obtain the second search range, and the second search range is further divided to obtain the third search range. Specifically, the first search range is divided into second search ranges that can be completely covered by the plurality of communication base stations 15 . In some examples, multiple second search ranges may have overlapping areas.
在一些示例中，可以将第二搜索范围再划分成多个无人机系统1可以完全覆盖的第三搜索范围，最终确定搜索范围为多个第三搜索范围。在一些示例中，多个第三搜索范围可以具有重合区域。In some examples, the second search range may be subdivided into third search ranges that can be completely covered by multiple unmanned aerial systems 1, and the search range is finally determined to be multiple third search ranges. In some examples, multiple third search ranges may have overlapping areas.
如上所述，无人机系统1包括定向天线10，定位基站11和无人机12。无人机系统1可以覆盖的范围为无人机12移动到最大范围时定位基站11可以覆盖的范围。As mentioned above, the UAV system 1 includes the directional antenna 10 , the positioning base station 11 and the UAV 12 . The range that the UAV system 1 can cover is the range that the positioning base station 11 can cover when the UAV 12 moves to the maximum range.
在步骤S13中，判断第一搜索范围是否大于无人机系统1最大搜索范围。如果第一搜索范围大于无人机系统1最大搜索范围，则则实施S14。反之，确定搜索范围为第一搜索范围。In step S13 , it is determined whether the first search range is larger than the maximum search range of the UAV system 1 . If the first search range is greater than the maximum search range of the UAV system 1, S14 is implemented. On the contrary, the search range is determined as the first search range.
在步骤S14中，划分第一搜索范围得到第四搜索范围。具体而言，将第一搜索范围划分成多个无人机系统1可以完全覆盖的第四搜索范围。在一些示例中，多个第四搜索范围可以具有重合区域。然后，确定搜索范围为多个第四搜索范围。In step S14, the first search range is divided to obtain a fourth search range. Specifically, the first search range is divided into a fourth search range that can be completely covered by the plurality of unmanned aerial systems 1 . In some examples, the plurality of fourth search ranges may have overlapping areas. Then, the search range is determined to be a plurality of fourth search ranges.
在步骤S2中，管理平台16录入定位名单。具体而言，定位基站11可以具有定位名单，定位名单可以记录着需要被定位的通信终端2的唯一识别码。例如，当通信终端2为手机时，唯一识别码可以为IMSI码，管理平台可以远程向定位基站11的定位名单录入一个或多个需要搜寻的手机的IMSI码。In step S2, the management platform 16 enters the positioning list. Specifically, the positioning base station 11 may have a positioning list, and the positioning list may record the unique identification codes of the communication terminals 2 to be located. For example, when the communication terminal 2 is a mobile phone, the unique identification code can be an IMSI code, and the management platform can remotely enter the IMSI code of one or more mobile phones to be searched into the positioning list of the positioning base station 11 .
在步骤S3中，确定通信终端2所在的搜索区域。In step S3, the search area where the communication terminal 2 is located is determined.
图7示出了本公开所涉及的一种搜寻通信终端2的方法的确定通信终端2所在的搜索区域的方法的流程图FIG. 7 shows a flow chart of a method for determining a search area where a communication terminal 2 is located in a method for searching for a communication terminal 2 involved in the present disclosure
在本实施方式中，如图7所示，步骤S3可以包括以下步骤。In this embodiment, as shown in FIG. 7 , step S3 may include the following steps.
在步骤S30中，搜索区域内的通信终端2。具体而言，定位基站11的轮循变频模块不断变化广播信号的频率，以使通信终端2能够识别定位基站11，并接入定位基站。在一些示例中，如上所述，定位基站11的频点可以配置为与运营商基站同频或者比其更高优先级的频点。定位基站11信号强度还可以配置为比运营商基站信号强度高一个门限值。由此，有利于定位基站11触发通信终端2的小区重选，以便于通信终端2接入定位基站11。In step S30, the communication terminal 2 in the area is searched. Specifically, the cyclic frequency conversion module of the positioning base station 11 constantly changes the frequency of the broadcast signal, so that the communication terminal 2 can identify the positioning base station 11 and access the positioning base station. In some examples, as described above, the frequency of the positioning base station 11 may be configured to be the same frequency as the operator's base station or a frequency with a higher priority. The signal strength of the positioning base station 11 may also be configured to be higher than the signal strength of the operator's base station by a threshold value. Therefore, it is beneficial for the positioning base station 11 to trigger the cell reselection of the communication terminal 2 so that the communication terminal 2 can access the positioning base station 11 .
在步骤S31中，判断搜索区域内是否有通信终端2接入。如果没有通信终端2接入，则实施步骤S35。反之，则实施步骤S32。In step S31, it is determined whether there is a communication terminal 2 accessing in the search area. If no communication terminal 2 accesses, step S35 is implemented. Otherwise, step S32 is implemented.
在步骤S32中，判断通信终端唯一识别码是否存在定位基站11的定位名单。具体而言，通信终端2接入定位基站11后，定位基站11可以获取到通信终端2的唯一识别码。然后，定位基站11将该唯一识别码与定位名单上的所有唯一识别码做对比。如果该唯一识别码在定位名单上，说明该通信终端2即为需要搜寻的通信终端2。因此，步骤S3完成。如果该唯一识别码不在定位名单上，说明该通信终端2不是需要定位的通信终端2。因此，实施步骤S34。In step S32, it is determined whether the unique identification code of the communication terminal exists in the positioning list of the positioning base station 11. Specifically, after the communication terminal 2 accesses the positioning base station 11 , the positioning base station 11 can obtain the unique identification code of the communication terminal 2 . Then, the positioning base station 11 compares the unique identification code with all the unique identification codes on the positioning list. If the unique identification code is on the positioning list, it means that the communication terminal 2 is the communication terminal 2 to be searched. Therefore, step S3 is completed. If the unique identification code is not on the positioning list, it means that the communication terminal 2 is not the communication terminal 2 that needs to be positioned. Therefore, step S34 is implemented.
在步骤S34中，释放通信终端2。具体而言，步骤S32确定了接入的通信终端2不是需要搜寻的通信终端2。因此，将通信终端2释放回公网，使其可以自由接入附近的其他基站。然后，无人机12继续搜索区域内的其他通信终端2，即实施步骤S30。In step S34, the communication terminal 2 is released. Specifically, step S32 determines that the accessed communication terminal 2 is not the communication terminal 2 that needs to be searched. Therefore, the communication terminal 2 is released back to the public network so that it can freely access other nearby base stations. Then, the drone 12 continues to search for other communication terminals 2 in the area, that is, step S30 is implemented.
在步骤S35中，搜寻下一个区域。具体而言，步骤S31确定了本区域内没有需要定位的通信终端2，由此，无人机12可以移动到下一个区域，并继续搜索新区域内的通信终端2，即实施步骤S30。In step S35, the next area is searched. Specifically, step S31 determines that there is no communication terminal 2 that needs to be located in this area, so that the drone 12 can move to the next area and continue to search for the communication terminal 2 in the new area, that is, step S30 is implemented.
在步骤S4中，抓取通信终端2。具体而言，步骤S3确定了区域内存在需要定位的通信终端2。并且，通信终端2成功接入了定位基站11。此时，定位基站11可以配置通信终端2以上行最大功率发射信号。定位基站11的抓取模块110可以持续改变定位基站11的广播信息中的TAC和CellId。在这种情况下，通信终端2将认为原小区基站已消失，需要重新接入新的小区基站。由此，通信终端2可以持续重复地接入定位基站11，也即，定位基站11成功抓取到通信终端2。In step S4, the communication terminal 2 is grabbed. Specifically, step S3 determines that there is a communication terminal 2 that needs to be located in the area. And, the communication terminal 2 successfully accesses the positioning base station 11 . At this time, the positioning base station 11 may configure the communication terminal 2 to transmit signals at the maximum uplink power. The capture module 110 of the positioning base station 11 can continuously change the TAC and CellId in the broadcast information of the positioning base station 11 . In this case, the communication terminal 2 will consider that the original cell base station has disappeared and needs to re-access a new cell base station. Therefore, the communication terminal 2 can continuously and repeatedly access the positioning base station 11 , that is, the positioning base station 11 successfully captures the communication terminal 2 .
在步骤S5中，确定通信终端2方向并移动。具体而言，定向天线10可以持续旋转。同时，定位基站11的信号强度测量模块111可以持续测量通信终端2的RSSI并存储测量到的RSSI。由此，定向天线10旋转一周后，定位基站11可以存储到一组RSSI。定位基站11的信号强度比较模块112可以比较这组RSSI的强弱，得到最强的RSSI，并确定最强的RSSI对应的方向为通信终端2所在的方向。无人机12可以向该方向移动。在移动过程中，若信号强度测量模块111测量到的RSSI变弱，无人机12将原地停驻。定位基站11将重复上述过程以重新确定通信终端2所在的方向。无人机12向新方向移动，直到信号强度测量模块111测量到的RSSI达到预设的最强值，则实施步骤S6。预设的RSSI最强值为一固定的经验值。In step S5, the direction of the communication terminal 2 is determined and moved. Specifically, the directional antenna 10 can be continuously rotated. Meanwhile, the signal strength measurement module 111 of the positioning base station 11 can continuously measure the RSSI of the communication terminal 2 and store the measured RSSI. Therefore, after the directional antenna 10 rotates once, the positioning base station 11 can store a set of RSSIs. The signal strength comparison module 112 of the positioning base station 11 can compare the strength of the group of RSSIs, obtain the strongest RSSI, and determine that the direction corresponding to the strongest RSSI is the direction where the communication terminal 2 is located. The drone 12 can move in this direction. During the moving process, if the RSSI measured by the signal strength measurement module 111 becomes weak, the UAV 12 will stop in place. The positioning base station 11 will repeat the above process to re-determine the direction in which the communication terminal 2 is located. The drone 12 moves in a new direction until the RSSI measured by the signal strength measurement module 111 reaches the preset strongest value, then step S6 is performed. The preset maximum RSSI value is a fixed empirical value.
在步骤S6中，搜寻通信终端2。经过步骤S5，无人机12已靠近通信终端2。此时，操作人员可以通过摄像头组13观察附近地形以确定通信终端2的确切位置，最终搜寻到通信终端2。In step S6, the communication terminal 2 is searched. After step S5 , the drone 12 has approached the communication terminal 2 . At this time, the operator can observe the nearby terrain through the camera group 13 to determine the exact position of the communication terminal 2 , and finally find the communication terminal 2 .
虽然以上结合附图和实施例对本公开进行了具体说明，但是可以理解，上述说明不以任何形式限制本公开。本领域技术人员在不偏离本公开的实质精神和范围的情况下可以根据需要对本公开进行变形和变化，这些变形和变化均落入本公开的保护范围内。Although the present disclosure has been specifically described above with reference to the accompanying drawings and embodiments, it should be understood that the above description does not limit the present disclosure in any form. Those skilled in the art can make modifications and changes of the present disclosure as required without departing from the essential spirit and scope of the present disclosure, and these modifications and changes all fall within the protection scope of the present disclosure.
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