CN109729563A

CN109729563A - A control method of an unmanned aerial vehicle, a network device and an unmanned aerial vehicle

Info

Publication number: CN109729563A
Application number: CN201711042647.0A
Authority: CN
Inventors: 张晓然
Original assignee: China Mobile Communications Group Co Ltd; China Mobile Communication Co Ltd
Current assignee: China Mobile Communications Group Co Ltd; China Mobile Communication Co Ltd
Priority date: 2017-10-30
Filing date: 2017-10-30
Publication date: 2019-05-07
Anticipated expiration: 2037-10-30
Also published as: CN109729563B

Abstract

Embodiments of the present invention provide a control method for an unmanned aerial vehicle, a network device, and an unmanned aerial vehicle. The network device sends a downlink message carrying an unmanned aerial vehicle access control message, and the unmanned aerial vehicle access control message is used to make The drone determines whether to access the designated cell according to the access control message; the drone receives the downlink message that carries the drone access control message sent by the network device; and determines whether to access according to the access control message designated area. The solution of the present invention exchanges information with the drone through wireless technical means, and controls the drone to prohibit entering the no-fly zone.

Description

A kind of control method of unmanned plane, the network equipment and unmanned plane

Technical field

The present invention relates to the control fields of unmanned plane, particularly relate to control method, the network equipment and the nothing of a kind of unmanned plane It is man-machine.

Background technique

There are mainly two types of modes for UAV Communication at present:

Mode one: it is realized between unmanned plane and its remote terminal by WLAN WiFi technology；

Mode two: unmanned plane and remote terminal are ordinary user, and access Cellular Networks are communicated, and remote terminal will instruct Cellular network base stations are transferred to, instruction is transmitted to unmanned plane again by base station.

Unmanned plane no-fly zone is to forbid nothing in regions such as certain airports, power plant, military base, prison, government bodies It is man-machine to leap or fly into.Unmanned plane, which enters no-fly zone, may interfere with commercial airliner landing, influence public safety etc., harm ground dough figurine Body property safety etc..

For the first scheme (being controlled by WLAN) of UAV Communication, possible limitation unmanned plane enters taboo The method for flying area is that no-fly zone is arranged in inside, and when unmanned plane, which navigates to, lays oneself open to no-fly zone, unmanned plane will be unable to start Or lands automatically, makes a return voyage.This method belongs to the realization of unmanned plane oneself.

For the second method (controlling by Cellular Networks) of UAV Communication, nothing can be limited by wireless cellular technology Man-machine signal of communication does not allow in the cell within the scope of unmanned plane access no-fly zone, after unmanned plane enters no-fly zone, due to The connection with network is lost, will directly be gone offline.

Such as Fig. 1, when the network of terrestrial wireless communication system needs while covering aerial unmanned plane terminal, antenna for base station Main lobe direction cover ground based terminal, secondary lobe covers aerial unmanned plane terminal.Compared to ground based terminal, in high aerial unmanned plane The cell that terminal is seen will also change more, network topology structure.

It is as follows in the network topology architecture of current wireless cellular network such as Fig. 2, for ground based terminal, middle cell 21 be the strongest cell of signal.But for the aerial unmanned plane terminal in the case where ground base station services, the network that terminal is seen is opened up Flutterring can change, and with the promotion of drone flying height, the most strong cell that unmanned plane terminal is seen may be region 22 Cell, the cell in even region 23.

So the serving cell of unmanned plane user and common ground user will be different even in same geographical location, The unmanned plane of different flying heights simultaneously, also can be different for the cell of its service.

Blacklist mechanism in existing LTE technology, it is homogeneous for each cell/frequency point configuration blacklist cell list Together, this different factor of unmanned plane serving cell of different altitude height is not accounted for.Black name is configured according to ordinary user at this time Single cell will be unable to limitation unmanned plane and enter no-fly zone.If ordinary user will according to unmanned plane user configuration blacklist cell It is a greater impact.In addition, the blacklist cell that the unmanned plane of different flying heights needs to configure may also be different, need new Mechanism solves this problem.

Existing LTE access control mechanism also has similar problem, needs the access control mechanism new for unmanned aerial vehicle design, limit Different altitude height unmanned plane processed enters in no-fly zone.In addition, access control mechanism is only applied to Idle state, connected state can not be protected Card demand.

Summary of the invention

The present invention provides a kind of control method of unmanned plane, the network equipment and unmanned planes, are not influencing ground commonly eventually Under the premise of holding (non-unmanned plane terminal) work, information exchange is carried out by wireless technology means and unmanned plane, and control nobody Machine is prohibited from entering no-fly zone.

In order to solve the above technical problems, the embodiment of the present invention provides following scheme:

A kind of control method of unmanned plane, comprising:

The downstream message for carrying unmanned plane access control message is sent, the unmanned plane access control message is for making nothing It is man-machine that the specified cell of access is determined whether according to the access control message.

Wherein, send carry unmanned plane access control message downstream message the step of include:

The broadcast message for carrying unmanned plane access control message is sent to the unmanned plane of Idle state；Or

The measurement control message for carrying unmanned plane access control message is sent to the unmanned plane of connected state.

Wherein, the step of broadcast message for carrying unmanned plane access control message is sent to the unmanned plane of Idle state packet It includes:

The broadcast message for carrying the first access control message, the first access control are sent to the unmanned plane of Idle state Include in message: control category is accessed according to the unmanned plane that height above sea level determines.

Wherein, the unmanned plane access control category includes: at least one control category, the corresponding sea of each control category Pull out altitude range, the corresponding height above sea level range of each control category is different.

Wherein, each of at least one described control category control category includes: the corresponding height above sea level of the control category Altitude range, and the flag bit of the cell that whether allows unmanned plane to access within the scope of the height above sea level.

Wherein, at least one described control category include: the first control category corresponding with the first height above sea level range, with Corresponding second control category of second height above sea level range and third control category corresponding with third height above sea level range；

Wherein, the third height above sea level range is greater than the second height above sea level range, the second height above sea level model It encloses and is greater than the first height above sea level range；

Whether first control category includes the first height above sea level range and unmanned plane is allowed to access first height above sea level First flag bit of the cell in altitude range；

Whether second control category includes the second height above sea level range and unmanned plane is allowed to access second height above sea level Second flag bit of the cell in altitude range；

Whether the third control category includes third height above sea level range and unmanned plane is allowed to access the third height above sea level The third flag bit of cell in altitude range.

Wherein, the unmanned plane access control category includes: height above sea level threshold value, and is lower than the height above sea level thresholding Whether allow fourth flag bit of the unmanned plane access lower than the cell within the scope of the height above sea level threshold value when value or be higher than to be somebody's turn to do 5th mark of the cell for whether allowing unmanned plane access to be higher than within the scope of the height above sea level threshold value when height above sea level threshold value Position.

The broadcast message for carrying the second access control message, the second access control are sent to the unmanned plane of Idle state Include in message: the first blacklist cell list that at least one cell for forbidding unmanned plane to enter is formed.

It wherein, further include having in the second access control message: at least one the cell shape for forbidding non-unmanned plane to enter At the second blacklist cell list.

Wherein, the step of measurement control message for carrying unmanned plane access control message is sent to the unmanned plane of connected state Include:

Obtain the current altitude information of the unmanned plane of connected state；

According to the current altitude information, is sent to the unmanned plane of connected state and carry third access control message Measuring control information, the third access control message includes: height above sea level range locating for the current altitude information, Corresponding blacklist cell list.

Wherein, the control method of unmanned plane further include:

When detecting that the current altitude information is in except the described first default height above sea level range, updated Altitude info ination afterwards；

According to the updated altitude info ination, the access control of the 4th machine is carried to the transmission of the unmanned plane of connected state The measuring control information of message, the 4th access control message includes: pre- locating for the updated altitude info ination If the corresponding blacklist cell list of height above sea level range.

Wherein, the step of measuring control information for carrying unmanned plane access control message is sent to the unmanned plane of connected state Include:

The measurement report that the current altitude information and unmanned plane for obtaining the unmanned plane of connected state report；

If cell height above sea level range locating for the current altitude information in the measurement report is corresponding Blacklist cell list in, then to the unmanned plane of connected state send carry the 5th access control information measuring control information And warning information, the 5th access control information includes: the cell for forbidding unmanned plane to access in the blacklist list.

Wherein, the control method of unmanned plane, further includes:

When detecting that the current altitude information is in except the height above sea level range, updated height above sea level is obtained Measurement report after the update that elevation information and unmanned plane report；

If the adjacent cell in the updated measurement report, the height above sea level locating for altitude info ination after the update In the corresponding blacklist cell list of altitude range, is then sent to the unmanned plane of connected state and carry the 6th access control information Measuring control information and updated warning information, the 6th access control information includes: to forbid unmanned plane access described black Cell in list list.

The measuring control information for carrying the 7th access control information, the 7th access are sent to the unmanned plane of connected state Controlling information includes: the corresponding blacklist cell list of different altitude height range.

The embodiment of the present invention also provides a kind of network equipment, comprising:

Transceiver, for sending the downstream message for carrying unmanned plane access control message, the unmanned plane access control Message is used to that unmanned plane to be made to determine whether the specified cell of access according to the access control message.

Wherein, the transceiver is specifically used for: carrying unmanned plane access control message to the transmission of the unmanned plane of Idle state Downlink broadcast message；Or disappear to the measurement control that the transmission of the unmanned plane of connected state carries unmanned plane access control message Breath.

Wherein, the transceiver sends the broadcast message for carrying unmanned plane access control message to the unmanned plane of Idle state When, it is specifically used for: sends the broadcast message for carrying the first access control message, first access to the unmanned plane of Idle state Include in control message: control category is accessed according to the unmanned plane that height above sea level determines.

Wherein, first control category include the first height above sea level range and whether allow unmanned plane access this first First flag bit of the cell within the scope of height above sea level；

Wherein, the transceiver sends the broadcast message for carrying unmanned plane access control message to the unmanned plane of Idle state When, it is specifically used for: sends the broadcast message for carrying the second access control message, second access to the unmanned plane of Idle state Include in control message: the first blacklist cell list that at least one cell for forbidding unmanned plane to enter is formed.

Wherein, the transceiver sends the measurement control for carrying unmanned plane access control message to the unmanned plane of connected state When message, it is specifically used for: obtains the current altitude information of the unmanned plane of connected state；Believed according to the current altitude Breath sends the measuring control information for carrying third access control message, the third access control to the unmanned plane of connected state Message includes: height above sea level range locating for the current altitude information, corresponding blacklist cell list.

Wherein, the transceiver is also used to: detecting that the current altitude information is in the described first default height above sea level When except altitude range, updated altitude info ination is obtained；According to the updated altitude info ination, to connected state Unmanned plane send carry the 4th machine access control message measuring control information, it is described 4th access control message includes: The corresponding blacklist cell list of default height above sea level range locating for the updated altitude info ination.

Wherein, the transceiver sends the measurement control for carrying unmanned plane access control message to the unmanned plane of connected state When information, it is specifically used for: the measurement report that the current altitude information and unmanned plane for obtaining the unmanned plane of connected state report； If the corresponding blacklist of height above sea level range locating for the current altitude information of the cell in the measurement report In cell list, then the measuring control information and alarm for carrying the 5th access control information are sent to the unmanned plane of connected state Information, the 5th access control information includes: the cell for forbidding unmanned plane to access in the blacklist list.

Wherein, the transceiver is also used to: detecting that the current altitude information is in the height above sea level range Except when, obtain measurement report after the update that updated altitude info ination and unmanned plane report；If after the update Measurement report in adjacent cell, the corresponding blacklist of height above sea level range locating for altitude info ination is small after the update In area's list, is then sent to the unmanned plane of connected state and carry the 6th access control measuring control information of information and updated Warning information, the 6th access control information includes: the cell for forbidding unmanned plane to access in the blacklist list.

Wherein, the transceiver sends the measurement control for carrying unmanned plane access control message to the unmanned plane of connected state When information, it is specifically used for: sends the measuring control information for carrying the 7th access control information to the unmanned plane of connected state, it is described 7th access control information includes: the corresponding blacklist cell list of different altitude height range.

The embodiment of the present invention also provides a kind of control method of unmanned plane, comprising:

Receive the downstream message for carrying unmanned plane access control message that the network equipment is sent；

The specified cell of access is determined whether according to the access control message.

Wherein, receiving the step of unmanned plane accesses the downstream message of control message that carry that the network equipment is sent includes:

The unmanned plane of Idle state receives the broadcast message for carrying unmanned plane access control message that the network equipment is sent；Or Person

The unmanned plane of connected state receives the measurement control for carrying unmanned plane access control message that the network equipment is sent and disappears Breath.

Wherein, the broadcast for carrying unmanned plane access control message that the unmanned plane of Idle state receives that the network equipment is sent disappears The step of breath includes:

The unmanned plane of Idle state receives the broadcast message for carrying the first access control message that the network equipment is sent, described Include in first access control message: control category is accessed according to the unmanned plane that height above sea level determines.

Wherein, determine whether that the step of accessing specified cell includes: according to the access control message

The unmanned plane of Idle state judge the current altitude of oneself within the scope of the first height above sea level, and it is described first mark When will position is first state, determination can access the cell within the scope of first height above sea level, otherwise, first flag bit When for the second state, determination cannot access the cell within the scope of first height above sea level；Or

The unmanned plane of Idle state judge the current altitude of oneself within the scope of the second height above sea level, and it is described second mark When will position is first state, determination can access the cell within the scope of second height above sea level, otherwise, second flag bit When for the second state, determination cannot access the cell within the scope of second height above sea level；Or

The unmanned plane of Idle state judge the current altitude of oneself within the scope of third height above sea level, and the third mark When will position is first state, determination can access the cell within the scope of the third height above sea level, otherwise, the third flag bit When for the second state, determination cannot access the cell within the scope of the third height above sea level.

When the unmanned plane of Idle state judges the current altitude of oneself lower than height above sea level threshold value, and the 4th mark When will position is first state, determination can be accessed lower than the cell within the scope of height above sea level threshold value, otherwise, the 4th mark When position is the second state, determination cannot be accessed lower than the cell within the scope of height above sea level threshold value；Or

When the unmanned plane of Idle state judges that the current altitude of oneself is higher than height above sea level threshold value, and the 5th mark When will position is first state, determination can be accessed higher than the cell within the scope of height above sea level threshold value, otherwise, the 5th mark When position is the second state, determination cannot be accessed higher than the cell within the scope of height above sea level threshold value.

The unmanned plane of Idle state receives the broadcast message for carrying the second access control message that the network equipment is sent, described Include in second access control message: the first blacklist cell column that at least one cell for forbidding unmanned plane to enter is formed Table.

The unmanned plane of Idle state is according to the first blacklist cell list in the second access control message, to described the Cell in one blacklist cell list does not access the cell in the first blacklist cell list without measurement.

Wherein, the unmanned plane of connected state receives the measurement control for carrying unmanned plane access control message that the network equipment is sent The step of message processed includes:

The unmanned plane of connected state receives the measurement control message for carrying third access control message that the network equipment is sent, The third access control message includes: the corresponding black name of height above sea level range locating for the current altitude information of unmanned plane Single cell list.

The unmanned plane of connected state accesses the current altitude information institute of the unmanned plane in control message according to the third The corresponding blacklist cell list of the height above sea level range at place, height above sea level locating for the current altitude information to unmanned plane Cell in the corresponding blacklist cell list of range does not access small in the blacklist cell list without measurement Area.

Wherein, the control method of unmanned plane, further includes:

The unmanned plane of connected state receives the measurement control letter for carrying the 4th machine access control message that the network equipment is sent Breath, the 4th access control message includes: default height above sea level range locating for the updated altitude info ination of unmanned plane Corresponding blacklist cell list；

The unmanned plane of connected state is small to the corresponding blacklist of height above sea level range locating for updated altitude info ination Cell in area's list does not access default height above sea level range pair locating for updated altitude info ination without measurement The cell in blacklist cell list answered.

The measurement report of the unmanned plane of connected state is reported to the network equipment；

It receives the network equipment and sends the measurement control for carrying the 5th access control information to the unmanned plane of connected state Information and warning information, the 5th access control information include: cell in the measurement report connected state nobody When in the corresponding blacklist cell list of height above sea level range locating for the current altitude information of machine, unmanned plane is forbidden to access The control information of cell in the blacklist list.

The unmanned plane of connected state is according to the 5th access control information, and the cell in the measurement report is in connected state Unmanned plane current altitude information locating in the corresponding blacklist cell list of height above sea level range when, do not access institute State the cell in blacklist list.

Wherein, the control method of unmanned plane, further includes:

The unmanned plane of connected state receives the measurement control letter for carrying the 6th machine access control message that the network equipment is sent Breath, the 6th access control message includes: the cell in the measurement report, in the updated sea of the unmanned plane of connected state When pulling out in the corresponding blacklist cell list of height above sea level range locating for elevation information, unmanned plane is forbidden to access updated sea Pull out the cell in the corresponding blacklist cell list of default height above sea level range locating for elevation information；

The unmanned plane of connected state receives the measuring control information for carrying the 7th access control information that the network equipment is sent, The 7th access control information includes: the corresponding blacklist cell list of different altitude height range；

The unmanned plane of connected state is according to oneself current altitude, to height above sea level locating for the current altitude Cell in the corresponding blacklist cell list of range does not access the cell in the blacklist list without measurement.

The embodiment of the present invention also provides a kind of unmanned plane, comprising:

Transceiver, for receiving the downstream message for carrying unmanned plane access control message of network equipment transmission；

Processor, for determining whether the specified cell of access according to the access control message.

Wherein, the transceiver is specifically used for: in Idle state, receiving the unmanned plane that carries that the network equipment is sent and accesses The broadcast message of control message；Or

In connected state, the measurement control message for carrying unmanned plane access control message that the network equipment is sent is received.

Wherein, the transceiver is specifically used for, and in Idle state, receive network equipment transmission carries the first access control The broadcast message of message processed, it is described first access control message in include: according to height above sea level determine unmanned plane access control Classification processed.

Wherein, the processor is specifically used for: in Idle state, judging the current altitude of oneself in the first height above sea level Spend range in, and first flag bit be first state when, determination can access small within the scope of first height above sea level Area, otherwise, when first flag bit is the second state, determination cannot access the cell within the scope of first height above sea level； Or

Judge the current altitude of oneself within the scope of the second height above sea level, and second flag bit be first state When, determination can access the cell within the scope of second height above sea level, otherwise, when second flag bit is the second state, Determination cannot access the cell within the scope of second height above sea level；Or

Judge the current altitude of oneself within the scope of third height above sea level, and the third flag bit be first state When, determination can access the cell within the scope of the third height above sea level, otherwise, when the third flag bit is the second state, Determination cannot access the cell within the scope of the third height above sea level.

Wherein, the processor is specifically used for: in Idle state, judging the current altitude of oneself lower than height above sea level When threshold value, and the 4th flag bit be first state when, determination can be accessed lower than within the scope of height above sea level threshold value Cell, otherwise, when the 4th flag bit is the second state, determination cannot be accessed lower than small within the scope of height above sea level threshold value Area；Or

When judging that the current altitude of oneself is higher than height above sea level threshold value, and the 5th flag bit is first state When, determination can be accessed higher than the cell within the scope of height above sea level threshold value, and otherwise, the 5th flag bit is the second state When, determination cannot be accessed higher than the cell within the scope of height above sea level threshold value.

Wherein, the transceiver is specifically used for: in Idle state, receive network equipment transmission carries the second access control The broadcast message of message processed, it is described second access control message in include: forbid unmanned plane enter at least one cell shape At the first blacklist cell list.

Wherein, the processor is specifically used for: black according to first in the second access control message in Idle state List cell list does not access the described first black name to the cell in the first blacklist cell list without measurement Cell in single cell list.

Wherein, the transceiver is specifically used for: in connected state, receiving the third access that carries that the network equipment is sent and controls The measurement control message of message processed, the third access control message includes: locating for the current altitude information of unmanned plane The corresponding blacklist cell list of height above sea level range.

Wherein, the processor is specifically used for, and in connected state, accesses the unmanned plane in control message according to the third Current altitude information locating for the corresponding blacklist cell list of height above sea level range, it is high to the current altitude of unmanned plane The cell in the corresponding blacklist cell list of height above sea level range locating for information is spent without measurement, is not accessed described black Cell in list cell list.

Wherein, the transceiver is specifically used for: in connected state, receiving the 4th machine that carries that the network equipment is sent and accesses The measuring control information of control message, the 4th access control message includes: the updated altitude info ination institute of unmanned plane The corresponding blacklist cell list of default height above sea level range at place；

The processor is with being used for, in connected state, to height above sea level range locating for updated altitude info ination Cell in corresponding blacklist cell list is not accessed and is preset locating for updated altitude info ination without measurement Cell in the corresponding blacklist cell list of height above sea level range.

Wherein, the transceiver is specifically used for: the measurement report of the unmanned plane of connected state is reported to the network equipment；

And it receives the network equipment and sends the measurement control for carrying the 5th access control information to the unmanned plane of connected state Information processed and warning information, the 5th access control information includes: nothing of the cell in the measurement report in connected state When in the corresponding blacklist cell list of height above sea level range locating for man-machine current altitude information, unmanned plane is forbidden to connect Enter the control information of the cell in the blacklist list.

Wherein, the processor is specifically used for: in connected state, according to the 5th access control information, in the survey The corresponding black name of cell height above sea level range locating for the current altitude information of the unmanned plane of connected state in amount report When in single cell list, the cell in the blacklist list is not accessed.

Wherein, the transceiver is specifically used for: in connected state, receiving the 6th machine that carries that the network equipment is sent and accesses The measuring control information of control message, the 6th access control message includes: the cell in the measurement report, in connected state Unmanned plane updated altitude info ination locating in the corresponding blacklist cell list of height above sea level range when, forbid Unmanned plane accesses in the corresponding blacklist cell list of default height above sea level range locating for updated altitude info ination Cell；

The processor is specifically used for, in connected state, to height above sea level model locating for updated altitude info ination The cell in corresponding blacklist cell list is enclosed without measurement, is not accessed pre- locating for updated altitude info ination If the cell in the corresponding blacklist cell list of height above sea level range.

Wherein, the transceiver is specifically used for: in connected state, receiving the 7th access that carries that the network equipment is sent and controls The measuring control information of information processed, the 7th access control information includes: the corresponding black name of different altitude height range Single cell list；

The processor is specifically used for, high to the current altitude according to the current altitude of oneself in connected state Cell in the locating corresponding blacklist cell list of height above sea level range of degree does not access the blacklist without measurement Cell in list.

The embodiment of the present invention also provides a kind of communication equipment, comprising: processor, the storage for being stored with computer program Device when the computer program is run by processor, executes method as described above.

The embodiment of the present invention also provides a kind of computer readable storage medium, including instruction, when described instruction is calculating When machine is run, so that computer executes method as described above.

Above scheme of the invention is include at least the following beneficial effects:

Above scheme of the invention, by send carry unmanned plane access control message downstream message, it is described nobody Machine access control message is used to that unmanned plane to be made to determine whether the specified cell of access according to the access control message, and unmanned plane connects The downstream message for carrying unmanned plane access control message that the network equipment is sent is received, is according to the access control message determination The specified cell of no access；Unmanned plane access cell is controlled according to the height above sea level of unmanned plane to realize, meets utilization Cellular telecommunication art limitation unmanned plane enters the demand of no-fly zone.

Detailed description of the invention

Fig. 1 is the network coverage situation schematic diagram of terrestrial wireless communication system；

Fig. 2 is the network topology architecture schematic diagram of current wireless cellular network；

Fig. 3 is the control method flow diagram of the embodiment of the present invention unmanned plane.

Specific embodiment

Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure It is fully disclosed to those skilled in the art.

The embodiment of the present invention provides a kind of control method of unmanned plane, comprising:

Specifically, can be the broadcast message for sending to the unmanned plane of Idle state and carrying unmanned plane access control message； Or the measurement control message for carrying unmanned plane access control message is sent to the unmanned plane of connected state.

It is sent to the unmanned plane of Idle state and carries the scheme one of broadcast message of unmanned plane access control message and include:

The broadcast message for carrying the first access control message, the first access control are sent to the unmanned plane of Idle state Include in message: control category is accessed according to the unmanned plane that height above sea level determines；

Each of at least one control category control category includes: the corresponding height above sea level model of the control category It encloses, and the flag bit for the cell for whether allowing unmanned plane to access within the scope of the height above sea level.

Wherein, the third height above sea level range is greater than the second height above sea level range, the second height above sea level model It encloses and is greater than the first height above sea level range.

For example, cell broadcasts the access control message of oneself in broadcast message, access in control message comprising whether permitting Perhaps the terminal of unmanned plane classification accesses (ac-BarringForDrone), and wherein ac-BarringForDrone can be for difference Height above sea level different access control categories is set.Such as:

Ac-BarringForDronelow (being equivalent to above-mentioned first height above sea level range) is lower than 50 meters for height above sea level Unmanned plane；

Ac-BarringForDronemedium (being equivalent to above-mentioned second height above sea level range) is higher than 50 meters for height above sea level Unmanned plane lower than 200 meters；

Ac-BarringForDronehigh (being equivalent to above-mentioned third height above sea level range) is higher than 200 for height above sea level The unmanned plane of rice；

The flag bit that above-mentioned access control message can be indicated with (0,1) bit, 1 indicates to allow to access the cell, 0 table Showing does not allow to access the cell, and flag bit here is not limited to be indicated with bit certainly.

Such as some Cell Broadcast CB:

Ac-BarringForDronelow 0,

Ac-BarringForDronemedium 1,

Ac-BarringForDronehigh 1,

The unmanned plane that then indicating the cell not allows height above sea level less than 50 meters accesses, and height above sea level is greater than nobody of 50 meters Machine can access；

Unmanned plane receives the broadcast message of cell, access control message is read, according to the height above sea level of oneself, it is determined whether Allow to access the cell；

If unmanned plane finds that certain cell forbids unmanned plane to access, then it represents that oneself have arrived at no-fly region, Ying Li Land or makes a return voyage.

It is sent to the unmanned plane of Idle state and carries the scheme two of broadcast message of unmanned plane access control message and include:

The broadcast message for carrying the first access control message, the first access control are sent to the unmanned plane of Idle state Include in message: control category is accessed according at least one unmanned plane that height above sea level determines；

Unmanned plane access control category includes: height above sea level threshold value, and when being lower than the height above sea level threshold value Whether allow fourth flag bit of the unmanned plane access lower than the cell within the scope of the height above sea level threshold value or is higher than the height above sea level Unmanned plane access whether is allowed to be higher than the 5th flag bit of the cell within the scope of the height above sea level threshold value when height threshold.

For example, cell broadcasts the access control message of oneself in broadcast message, access in control message comprising whether permitting Perhaps the terminal of unmanned plane classification accesses (ac-BarringForDrone), and unmanned plane access control message can use (0,1) bit It indicates to allow to access the cell come the flag bit indicated, 1,0 indicates not allow to access the cell, and flag bit here is not certainly It is limited to be indicated with bit.

Simultaneously in unmanned plane access control message, increase a thresholding, the thresholding is the thresholding of height above sea level: ac- BarringFroDrone+threshold

Such as some Cell Broadcast CB:

Ac-BarringForDrone, threshold 100m, 0

The unmanned plane that then indicating cell not allows height above sea level less than 100 meters accesses, and height above sea level is greater than nobody of 100 meters Machine can access；

It is sent to the unmanned plane of Idle state and carries the scheme three of broadcast message of unmanned plane access control message and include:

For example, cell broadcasts blacklist cell list, including co-frequency cell blacklist list and alien frequencies in broadcast message Cell blacklist list.

The blacklist cell list includes for the blacklist cell list of ordinary terminal (for example, non-unmanned plane) and right In the blacklist cell list of unmanned plane.

Wherein there is multiple, the corresponding blacklist cell of different altitude height for the blacklist cell list of unmanned plane user List is different.

Such as: BlackCellList-low is arranged in the unmanned plane for height above sea level lower than 50 meters, for height above sea level height BlackCellList-medium is set in 50 meters of unmanned planes lower than 200 meters, 200 meters of unmanned plane is higher than for height above sea level BlackCellList-high is set；

Unmanned plane receives cell broadcast messages, reads the corresponding blacklist cell list of unmanned plane, does not need to read common The blacklist cell list of terminal.Ordinary terminal only reads the blacklist cell list of ordinary terminal, does not need to read unmanned plane Blacklist cell list.

Unmanned plane reads corresponding blacklist cell list according to the flying height of oneself, and unmanned plane is not in blacklist Cell measures.

The above embodiment of the present invention carries unmanned plane access control message by sending to the unmanned plane of Idle state Downstream message, the unmanned plane access control message is for making unmanned plane determine whether that access refers to according to the access control message Fixed cell, unmanned plane receives the downstream message for carrying unmanned plane access control message that the network equipment is sent, according to described Access control message determines whether the specified cell of access；Believed to realize the unmanned plane of Idle state according to the control of cell Breath accesses cell, meets the demand for entering no-fly zone using cellular telecommunication art limitation unmanned plane.

In specific embodiments of the present invention, the survey for carrying unmanned plane access control message is sent to the unmanned plane of connected state Amount control message scheme one include:

Step 11, the current altitude information of the unmanned plane of connected state is obtained；

Specifically, cell is that unmanned plane configuration measurement reports configuration, the measurement is reported in configuration including allowing on unmanned plane Report the height above sea level of oneself；The measurement that unmanned plane receives cell reports configuration, reports the height above sea level of oneself；

Be also possible to: cell is true according to the angle of arrival and Timing Advance TA (timing advance) of uplink receiving signal Determine the height above sea level of unmanned plane；

Step 12, according to the current altitude information, third access control is carried to the transmission of the unmanned plane of connected state The measuring control information of message processed, the third access control message includes: height above sea level locating for the current altitude information Altitude range, corresponding blacklist cell list.

Further, can also include:

Step 13, when detecting that the current altitude information is in except the described first default height above sea level range, Obtain updated altitude info ination；

Step 14, according to the updated altitude info ination, the 4th machine is carried to the transmission of the unmanned plane of connected state The measuring control information of control message is accessed, the 4th access control message includes: the updated altitude info ination The locating corresponding blacklist cell list of default height above sea level range.

Such as: 1) obtain the altitude info ination of unmanned plane；

2) cell maintenance is directed to the blacklist cell list of unmanned plane, and the list can be for different altitude height not Together, such as: for height above sea level lower than 50 meters unmanned plane, height above sea level be higher than 50 meters lower than 200 meters unmanned plane, height above sea levels Degree is higher than 200 meters of unmanned plane, there is different blacklist cell lists respectively；

3) height above sea level reported according to unmanned plane, cell are that unmanned plane sends measuring configuration, are wrapped in the measuring configuration Include blacklist cell list；

4) unmanned plane receives the measuring configuration that cell is sent, and measures, and unmanned plane is not to small in blacklist list Area measures；

5) when unmanned plane is more than the height above sea level range that uses of current blacklist list, triggering is reported into unmanned plane again Height above sea level；

6) cell receives the unmanned plane height above sea level of update, for the measuring configuration that unmanned plane configuration updates, the measurement of update It include the corresponding blacklist cell list updated in configuration.

The scheme two that the measuring control information for carrying unmanned plane access control message is sent to the unmanned plane of connected state is wrapped It includes:

Step 21, the measurement report that the current altitude information and unmanned plane for obtaining the unmanned plane of connected state report；

Specifically, may is that cell for unmanned plane configuration when obtaining the current altitude information of the unmanned plane of connected state Measurement reports configuration, and it includes that unmanned plane is allowed to report the height above sea level of oneself that the measurement, which reports in configuration, and unmanned plane receives cell Measurement report configuration, report the height above sea level of oneself；Or cell is according to the angle of arrival and TA (timing of uplink receiving signal Advance the height above sea level of unmanned plane) is determined；

Step 22, if cell height above sea level model locating for the current altitude information in the measurement report It encloses in corresponding blacklist cell list, then sends the measurement control for carrying the 5th access control information to the unmanned plane of connected state Information processed and warning information, the 5th access control information includes: that unmanned plane is forbidden to access in the blacklist list Cell.

Further, can also include:

Step 23, it when detecting that the current altitude information is in except the height above sea level range, is updated Measurement report after the update that altitude info ination and unmanned plane afterwards reports；

Step 24, if adjacent cell in the updated measurement report, the altitude info ination institute after the update In the corresponding blacklist cell list of the height above sea level range at place, then the 6th access control is carried to the transmission of the unmanned plane of connected state The measuring control information of information processed and updated warning information, the 6th access control information includes: that unmanned plane is forbidden to connect Enter the cell in the blacklist list.

For example, 1) obtain the altitude info ination of unmanned plane；

2) cell maintenance is directed to the blacklist cell list of unmanned plane, and the list can be for different altitude height not Together, such as:

Unmanned plane, height above sea level for height above sea level lower than 50 meters are higher than 50 meters of unmanned plane, height above sea levels lower than 200 meters Degree is higher than 200 meters of unmanned plane, there is different blacklist cell lists respectively

3) measurement that cell receives unmanned plane reports, if in measurement result including the cell in blacklist cell list, Cell would not allow for unmanned plane cut-grafting to enter in the cell in blacklist list, and send a warning message to unmanned plane, inform nobody Machine has been near no-fly zone；

4) when unmanned plane is more than the height above sea level range that uses of current blacklist list, triggering is reported into unmanned plane again Height above sea level；

5) cell receives the height above sea level for the update that unmanned plane reports, the adjacent cell measuring that will be rejudged unmanned plane and report Measure result in whether be included in blacklist in, if there is and change, then to unmanned plane send update warning information.

The scheme three guarantees for carrying the measuring control information of unmanned plane access control message are sent to the unmanned plane of connected state It includes:

For example, 1) cell gives unmanned plane transmission measuring configuration, it include that different altitude height is corresponding in the measuring configuration Blacklist cell list, such as: unmanned plane, height above sea level for height above sea level lower than 50 meters are higher than 50 meters and are lower than 200 meters Unmanned plane, height above sea level are higher than 200 meters of unmanned plane, there is different blacklist cell lists respectively；

2) unmanned plane receives the measuring configuration of cell, and in conjunction with the height above sea level of oneself, oneself judgement should select black List cell list.For the cell in blacklist list, unmanned plane will not be measured.

The embodiment of the invention, by send carry unmanned plane access control message downstream message, it is described nobody Machine access control message is used to that the unmanned plane of connected state to be made to determine whether the specified cell of access according to the access control message, Unmanned plane receives the downstream message for carrying unmanned plane access control message that the network equipment is sent, and is disappeared according to access control Breath determines whether the specified cell of access；Unmanned plane access cell is controlled according to the height above sea level of unmanned plane to realize, it is full Foot enters the demand of no-fly zone using cellular telecommunication art limitation unmanned plane.

Corresponding to the above method embodiment, the embodiment of the present invention also provides a kind of network equipment, comprising:

At least one described control category includes: the first control category corresponding with the first height above sea level range and second Corresponding second control category of height above sea level range and third control category corresponding with third height above sea level range；

The embodiment of the present invention also provides a kind of communication equipment, comprising: processor, the storage for being stored with computer program Device when the computer program is run by processor, executes method as described above.Wherein, processor, memory pass through bus Or interface connection.The communication equipment can be network side equipment, such as base station.

It should be noted that the network equipment is equipment corresponding with the above method, all realization sides in the above method Formula can also reach identical technical effect suitable for the embodiment of the network equipment.

As shown in figure 3, the embodiment of the present invention also provides a kind of control method of unmanned plane, comprising:

Step 31, the downstream message for carrying unmanned plane access control message that the network equipment is sent is received；

Step 32, the specified cell of access is determined whether according to the access control message.

Wherein, step 31 includes:

Step 311, the unmanned plane that carries that the unmanned plane of Idle state receives that the network equipment is sent accesses the wide of control message Broadcast message；Or

Step 312, the unmanned plane of connected state receives the survey for carrying unmanned plane access control message that the network equipment is sent Measure control message.

Wherein, step 311 includes:

Step 3111, the unmanned plane of Idle state receives the broadcast for carrying the first access control message that the network equipment is sent Message, it is described first access control message in include: according to height above sea level determine unmanned plane access control category.

Correspondingly, step 32 includes:

Such as some Cell Broadcast CB:

Ac-BarringForDronelow 0,

Ac-BarringForDronemedium 1,

Ac-BarringForDronehigh 1,

The unmanned plane that then indicating the cell not allows height above sea level less than 50 meters accesses, and height above sea level is greater than nobody of 50 meters Machine can access

In a specific embodiment of the invention, step 311 includes:

Step 3112, the unmanned plane of Idle state receives the broadcast for carrying the first access control message that the network equipment is sent Message, it is described first access control message in include: according to height above sea level determine at least one unmanned plane access control class Not.Unmanned plane access control category includes: height above sea level threshold value, and whether lower than height above sea level threshold value when permits Perhaps unmanned plane access is lower than the 4th flag bit of the cell within the scope of the height above sea level threshold value or higher than the height above sea level door Unmanned plane access whether is allowed to be higher than the 5th flag bit of the cell within the scope of the height above sea level threshold value when limit value.

Correspondingly, step 32 includes:

Such as some Cell Broadcast CB:

Ac-BarringForDrone, threshold 100m, 0

Unmanned plane receives the system message of cell, access control message is read, according to the height above sea level of oneself, it is determined whether Allow to access the cell；

In the embodiment of the present invention, step 311 includes:

Step 3113, the unmanned plane of Idle state receives the broadcast for carrying the second access control message that the network equipment is sent Message, it is described second access control message in include: forbid unmanned plane enter at least one cell formed the first black name Single cell list.

Correspondingly, step 32 includes:

The above embodiment of the present invention receives the unmanned plane that carries that the network equipment is sent by the unmanned plane of Idle state and connects Enter the downstream message of control message, the unmanned plane access control message is for keeping unmanned plane true according to the access control message It is fixed whether to access specified cell, the specified cell of access is determined whether according to the access control message；To realize root According to the unmanned plane of Idle state according to the control information of cell, cell is accessed, meets and limits unmanned plane using cellular telecommunication art Into the demand of no-fly zone.

In the embodiment of the present invention, step 312 includes:

Step 3121, the unmanned plane of connected state receives the measurement for carrying third access control message that the network equipment is sent Control message, the third access control message includes: height above sea level range locating for the current altitude information of unmanned plane Corresponding blacklist cell list.

Correspondingly, step 32 includes: that the unmanned plane of connected state accesses the unmanned plane in control message according to the third The corresponding blacklist cell list of height above sea level range locating for current altitude information, to the current altitude of unmanned plane Cell in the corresponding blacklist cell list of height above sea level range locating for information does not access the black name without measurement Cell in single cell list.

Wherein, the control method of unmanned plane, further includes:

Step 33, the unmanned plane of connected state receives the measurement for carrying the 4th machine access control message that the network equipment is sent Information is controlled, the 4th access control message includes: default height above sea level locating for the updated altitude info ination of unmanned plane Spend the corresponding blacklist cell list of range；

Step 34, the unmanned plane of connected state is corresponding black to height above sea level range locating for updated altitude info ination Cell in list cell list does not access default height above sea level locating for updated altitude info ination without measurement Cell in the corresponding blacklist cell list of range.

Such as: 1) obtain the altitude info ination of unmanned plane；

In the embodiment of the present invention, step 312 includes:

Step 3122, the measurement report of the unmanned plane of connected state is reported to the network equipment；

Step 3123, it receives the network equipment and carries the 5th access control information to the transmission of the unmanned plane of connected state Measuring control information and warning information, the 5th access control information include: that the cell in the measurement report is connecting When in the corresponding blacklist cell list of height above sea level range locating for the current altitude information of the unmanned plane of state, forbid nothing The control information of cell in the man-machine access blacklist list.

Correspondingly, step 32 includes:

Wherein, the control method of unmanned plane, further includes:

Step 35, the unmanned plane of connected state receives the measurement for carrying the 6th machine access control message that the network equipment is sent Information is controlled, the 6th access control message includes: the cell in the measurement report, in the update of the unmanned plane of connected state When in the corresponding blacklist cell list of height above sea level range locating for altitude info ination afterwards, unmanned plane access is forbidden to update Cell in the corresponding blacklist cell list of default height above sea level range locating for altitude info ination afterwards；

Step 36, the unmanned plane of connected state is corresponding black to height above sea level range locating for updated altitude info ination Cell in list cell list does not access default height above sea level locating for updated altitude info ination without measurement Cell in the corresponding blacklist cell list of range.

For example, 1) obtain the altitude info ination of unmanned plane；

In the embodiment of the present invention, step 312 includes:

Step 3124, the unmanned plane of connected state receives the measurement for carrying the 7th access control information that the network equipment is sent Information is controlled, the 7th access control information includes: the corresponding blacklist cell list of different altitude height range；

Step 3125, the unmanned plane of connected state is according to oneself current altitude, to locating for the current altitude The corresponding blacklist cell list of height above sea level range in cell without measurement, do not access the blacklist list In cell.

It should be noted that the embodiment of the unmanned plane is equipment corresponding with the above method, in above method embodiment All implementations suitable for the embodiment of the unmanned plane, can also reach identical technical effect.

The embodiment of the present invention also provides a kind of communication equipment, comprising: processor, the storage for being stored with computer program Device when the computer program is run by processor, executes method as described above.Wherein, processor, memory pass through bus Or interface connection.The communication equipment can be network side equipment, such as unmanned plane.

The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art For, without departing from the principles of the present invention, it can also make several improvements and retouch, these improvements and modifications It should be regarded as protection scope of the present invention.

Claims

1. a control method of unmanned aerial vehicle, is characterized in that, comprises:

A downlink message carrying a drone access control message is sent, and the drone access control message is used to enable the drone to determine whether to access a designated cell according to the access control message.

2. The control method of unmanned aerial vehicle according to claim 1, is characterized in that, the step of sending the downlink message that carries the unmanned aerial vehicle access control message comprises:

Send a broadcast message carrying a drone access control message to an idle drone; or

Send a measurement control message carrying the UAV access control message to the connected UAV.

3. The control method of unmanned aerial vehicle according to claim 2, is characterized in that, the step of sending the broadcast message carrying the unmanned aerial vehicle access control message to the unmanned aerial vehicle of idle state comprises:

A broadcast message carrying a first access control message is sent to the drone in the idle state, where the first access control message includes: the drone access control category determined according to the altitude.

4. The control method of an unmanned aerial vehicle according to claim 3, wherein the unmanned aerial vehicle access control category comprises: at least one control category, each control category corresponds to an altitude range, and each control category The corresponding altitude ranges differ from each other.

5 . The method for controlling drones according to claim 4 , wherein each control class in the at least one control class includes: an altitude range corresponding to the control class, and whether the drone is allowed to access or not. 6 . The flag bit of the cell within this altitude range.

6 . The control method of an unmanned aerial vehicle according to claim 5 , wherein the at least one control category comprises: a first control category corresponding to the first altitude range, a first control category corresponding to the second altitude range Two control categories and a third control category corresponding to the third altitude range;

Wherein, the third altitude range is greater than the second altitude range, and the second altitude range is greater than the first altitude range;

The first control category includes a first altitude range and a first flag of whether to allow the drone to access a cell within the first altitude range;

The second control category includes a second altitude range and a second flag position of whether to allow the drone to access a cell within the second altitude range;

The third control category includes a third altitude range and a third flag indicating whether the drone is allowed to access cells within the third altitude range.

7. The control method of an unmanned aerial vehicle according to claim 3, wherein the unmanned aerial vehicle access control category comprises: an altitude threshold value, and whether to allow no Whether the drone is allowed to access the cell within the range above the altitude threshold when the human-machine access is lower than the fourth flag of the cell within the altitude threshold or is higher than the altitude threshold the fifth flag bit.

8. The control method of unmanned aerial vehicle according to claim 2, is characterized in that, the step of sending the broadcast message carrying the unmanned aerial vehicle access control message to the unmanned aerial vehicle of idle state comprises:

A broadcast message carrying a second access control message is sent to the drone in the idle state, where the second access control message includes: a first blacklist cell list formed by at least one cell prohibited from entering the drone.

9. The control method of an unmanned aerial vehicle according to claim 8, wherein the second access control message further comprises: a second blacklist cell formed by at least one cell that prohibits the entry of non-UAVs list.

10. The control method of unmanned aerial vehicle according to claim 2, wherein the step of sending the measurement control message carrying the unmanned aerial vehicle access control message to the unmanned aerial vehicle in the connected state comprises:

Obtain the current altitude information of the connected drone;

According to the current altitude information, the measurement control information carrying a third access control message is sent to the connected UAV, where the third access control message includes: the altitude at which the current altitude information is located Scope, the corresponding blacklist cell list.

11. The control method of unmanned aerial vehicle according to claim 10, is characterized in that, also comprises:

When detecting that the current altitude information is outside the first preset altitude range, obtain updated altitude information;

According to the updated altitude information, the measurement control information carrying a fourth access control message is sent to the connected UAV, where the fourth access control message includes: the updated altitude information List of blacklisted cells corresponding to the preset altitude range.

12. The method for controlling unmanned aerial vehicle according to claim 2, wherein the step of sending the measurement control information carrying the unmanned aerial vehicle access control message to the unmanned aerial vehicle in the connected state comprises:

Obtain the current altitude information of the connected drone and the measurement report reported by the drone;

If the cell in the measurement report is in the blacklisted cell list corresponding to the altitude range where the current altitude information is located, send the measurement control information carrying the fifth access control information to the UAV in the connected state and alarm information, the fifth access control information includes: prohibiting the drone from accessing the cells in the blacklist.

13. The control method of unmanned aerial vehicle according to claim 12, is characterized in that, also comprises:

When it is detected that the current altitude information is outside the altitude range, the updated altitude information and the updated measurement report reported by the drone are obtained;

If the neighboring cells in the updated measurement report are in the blacklisted cell list corresponding to the altitude range where the updated altitude information is located, send a message to the UAV in the connected state that carries the sixth access The measurement control information of the control information and the updated alarm information, the sixth access control information includes: prohibiting the drone from accessing the cells in the blacklist.

14. The method for controlling unmanned aerial vehicle according to claim 2, wherein the step of sending the measurement control information carrying the unmanned aerial vehicle access control message to the unmanned aerial vehicle in the connected state comprises:

Sending measurement control information carrying seventh access control information to the drone in the connected state, where the seventh access control information includes: blacklist cell lists corresponding to different altitude ranges respectively.

15. A network device, comprising:

The transceiver is configured to send a downlink message carrying a drone access control message, and the drone access control message is used to enable the drone to determine whether to access a designated cell according to the access control message.

16. The network device according to claim 15, wherein the transceiver is specifically used for:

Send a downlink broadcast message carrying the drone access control message to the drone in the idle state; or

17. The network device according to claim 16, wherein when the transceiver sends a broadcast message carrying a drone access control message to an idle drone, it is specifically used for:

18 . The network device according to claim 17 , wherein the UAV access control categories include: at least one control category, each control category corresponds to an altitude range, and the altitude corresponding to each control category The ranges are different from each other.

19. A control method for an unmanned aerial vehicle, comprising:

Receive the downlink message that carries the UAV access control message sent by the network device;

Whether to access the designated cell is determined according to the access control message.

20. The control method of an unmanned aerial vehicle according to claim 19, wherein the step of receiving a downlink message that is sent by the network device and carries the unmanned aerial vehicle access control message comprises:

The drone in the idle state receives the broadcast message carrying the drone access control message sent by the network device; or

The UAV in the connected state receives the measurement control message that carries the UAV access control message sent by the network device.

21. The control method of an unmanned aerial vehicle according to claim 20, wherein the step of the idle state unmanned aerial vehicle receiving the broadcast message that carries the unmanned aerial vehicle access control message sent by the network device comprises:

The drone in the idle state receives the broadcast message that is sent by the network device and carries the first access control message, where the first access control message includes: the drone access control category determined according to the altitude.

22. The method for controlling an unmanned aerial vehicle according to claim 21, wherein the unmanned aerial vehicle access control category comprises: at least one control category, each control category corresponds to an altitude range, and each control category The corresponding altitude ranges differ from each other.

23. The control method of an unmanned aerial vehicle according to claim 22, wherein each control category in the at least one control category includes: an altitude range corresponding to the control category, and whether the unmanned aerial vehicle is allowed to connect Enter the flag bit of the cell within the altitude range.

24. The control method of an unmanned aerial vehicle according to claim 23, wherein the at least one control category comprises: a first control category corresponding to the first altitude range, a first control category corresponding to the second altitude range Two control categories and a third control category corresponding to the third altitude range;

25. The control method of an unmanned aerial vehicle according to claim 24, wherein the step of determining whether to access a designated cell according to the access control message comprises:

When the drone in the idle state judges that its current altitude is within the first altitude range, and the first flag bit is in the first state, it is determined that it can access the cell within the first altitude range, otherwise, When the first flag bit is in the second state, it is determined that the cell within the first altitude range cannot be accessed; or

When the drone in the idle state judges that its current altitude is within the second altitude range, and the second flag bit is in the first state, it is determined that it can access the cell within the second altitude range, otherwise, When the second flag bit is in the second state, it is determined that the cell within the second altitude range cannot be accessed; or

When the drone in the idle state judges that its current altitude is within the third altitude range, and the third flag is in the first state, it is determined that it can access the cell within the third altitude range, otherwise, When the third flag bit is in the second state, it is determined that the cell within the third altitude range cannot be accessed.

26. The control method of an unmanned aerial vehicle according to claim 21, wherein the unmanned aerial vehicle access control category includes: an altitude threshold value, and whether to allow no Whether the drone is allowed to access the cell within the range above the altitude threshold when the man-machine accesses the fourth flag of the cell that is lower than the altitude threshold or is higher than the altitude threshold the fifth flag bit.

27. The control method of an unmanned aerial vehicle according to claim 26, wherein the step of determining whether to access a designated cell according to the access control message comprises:

When the drone in the idle state judges that its current altitude is lower than the altitude threshold, and the fourth flag bit is in the first state, it is determined that it can access a cell within the range below the altitude threshold, Otherwise, when the fourth flag bit is in the second state, it is determined that the cell that is lower than the altitude threshold value cannot be accessed; or

When the drone in the idle state judges that its current altitude is higher than the altitude threshold, and the fifth flag bit is in the first state, it is determined that it can access a cell within the range higher than the altitude threshold, Otherwise, when the fifth flag bit is in the second state, it is determined that a cell within a range higher than the altitude threshold value cannot be accessed.

28. The control method of an unmanned aerial vehicle according to claim 20, wherein the step of the unmanned aerial vehicle in the idle state receiving the broadcast message that carries the unmanned aerial vehicle access control message sent by the network device comprises:

The drone in the idle state receives a broadcast message that is sent by the network device and carries a second access control message, where the second access control message includes: a first blacklist formed by at least one cell in which the drone is prohibited from entering Cell list.

29. The method for controlling an unmanned aerial vehicle according to claim 28, wherein the step of determining whether to access a designated cell according to the access control message comprises:

The drone in the idle state does not measure the cells in the first blacklist cell list according to the first blacklist cell list in the second access control message, and does not access the first blacklist Cells in the cell list.

30. The control method of an unmanned aerial vehicle according to claim 20, wherein the step of the unmanned aerial vehicle in the connected state receiving the measurement control message carrying the unmanned aerial vehicle access control message sent by the network device comprises:

The drone in the connected state receives a measurement control message that is sent by the network device and carries a third access control message, where the third access control message includes: a range corresponding to the altitude where the current altitude information of the drone is located. List of blacklisted cells.

31. The control method of an unmanned aerial vehicle according to claim 30, wherein the step of determining whether to access a designated cell according to the access control message comprises:

According to the blacklist cell list corresponding to the altitude range where the current altitude information of the drone in the third access control message is located, the drone in the connected state determines the location where the current altitude information of the drone is located. The cells in the blacklisted cell list corresponding to the altitude range are not measured, and do not access the cells in the blacklisted cell list.

32. The control method of an unmanned aerial vehicle according to claim 31, characterized in that, further comprising:

The drone in the connected state receives the measurement control information that is sent by the network device and carries a fourth access control message, where the fourth access control message includes: a preset altitude where the updated altitude information of the drone is located List of blacklisted cells corresponding to the height range;

The connected drone does not measure the cells in the blacklisted cell list corresponding to the altitude range where the updated altitude information is located, and does not access the preset altitude range where the updated altitude information is located. The corresponding cell in the blacklist cell list.

33. The control method of unmanned aerial vehicle according to claim 20, is characterized in that, the step that the unmanned aerial vehicle of connected state receives the measurement control message that carries the unmanned aerial vehicle access control message that network equipment sends comprises:

Report the measurement report of the connected drone to the network device;

Receive the measurement control information and alarm information that the network device sends to the UAV in the connected state and carry fifth access control information, where the fifth access control information includes: the cell in the measurement report is in the connected state When the current altitude information of the drone is in the blacklist cell list corresponding to the altitude range, the drone is prohibited from accessing the control information of the cells in the blacklist.

34. The control method of an unmanned aerial vehicle according to claim 33, wherein the step of determining whether to access a designated cell according to the access control message comprises:

According to the fifth access control information, the UAV in the connected state, when the cell in the measurement report is in the blacklist cell list corresponding to the altitude range where the current altitude information of the UAV in the connected state is located , do not access the cells in the blacklist.

35. The control method of unmanned aerial vehicle according to claim 34, is characterized in that, also comprises:

The drone in the connected state receives the measurement control information that is sent by the network device and carries the sixth access control message, where the sixth access control message includes: the cell in the measurement report, the drone in the connected state When the updated altitude information is located in the blacklist cell list corresponding to the altitude range, the drone is prohibited from accessing the blacklist cell list corresponding to the preset altitude range where the updated altitude information is located. community;

36. The control method of an unmanned aerial vehicle according to claim 20, wherein the step of the unmanned aerial vehicle in the connected state receiving the measurement control message carrying the unmanned aerial vehicle access control message sent by the network device comprises:

The drone in the connected state receives the measurement control information that is sent by the network device and carries seventh access control information, where the seventh access control information includes: blacklist cell lists corresponding to different altitude ranges respectively;

The drone in the connected state does not measure the cells in the blacklist cell list corresponding to the altitude range where the current altitude is located, and does not access the cells in the blacklist according to its current altitude. community.

37. An unmanned aerial vehicle comprising:

A transceiver, used for receiving downlink messages sent by network equipment and carrying UAV access control messages;

The processor is configured to determine whether to access the designated cell according to the access control message.

38. The drone of claim 37, wherein the transceiver is specifically used for:

In the idle state, the broadcast message carrying the drone access control message sent by the network device is received; or in the connected state, the measurement control message containing the drone access control message sent by the network device is received.

39. The drone according to claim 38, wherein the transceiver is specifically configured to, in an idle state, receive a broadcast message that carries a first access control message sent by a network device, the first An access control message includes: a drone access control category determined according to the altitude.

40. The UAV according to claim 39, wherein the UAV access control categories include: at least one control category, each control category corresponds to an altitude range, and the altitude corresponding to each control category The height ranges differ from each other.

41. A communication device, characterized by comprising: a processor, a memory storing a computer program, and when the computer program is run by the processor, executes the method according to any one of claims 1-14, or 19 The method of any one of -36.

42. A computer-readable storage medium, characterized by comprising instructions that, when executed on a computer, cause the computer to perform the method of any one of claims 1-14, or any one of 19-36 the method described.