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Unmanned aerial vehicles (UAVs) play an increasingly important role inmilitary, public, and civilian applications, where providing connectivity toUAVs is crucial for its real-time control, video streaming, and datacollection. Considering that cellular networks offer wide area, high speed, andsecure wireless connectivity, cellular-connected UAVs have been considered asan appealing solution to provide UAV connectivity with enhanced reliability,coverage, throughput, and security. Due to the nature of UAVs mobility, thethroughput, reliability and End-to-End (E2E) delay of UAVs communication undervarious flight heights, video resolutions, and transmission frequencies remainunknown. To evaluate these parameters, we develop a cellular-connected UAVtestbed based on the Long Term Evolution (LTE) network with its uplink videotransmission and downlink control\&command (CC) transmission. We also designalgorithms for sending control signal and controlling UAV. The indoorexperimental results provide fundamental insights for the cellular-connectedUAV system design from the perspective of transmission frequency, adaptability,and link outage, respectively.

Real-time Video Streaming and Control of Cellular-Connected UAV System: Prototype and Performance Evaluation