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WO2018170736A1 - Procédé et dispositif de commande de véhicule aérien sans pilote, ainsi que procédé et dispositif de surveillance de véhicule aérien sans pilote - Google Patents

Procédé et dispositif de commande de véhicule aérien sans pilote, ainsi que procédé et dispositif de surveillance de véhicule aérien sans pilote Download PDF

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Publication number
WO2018170736A1
WO2018170736A1 PCT/CN2017/077530 CN2017077530W WO2018170736A1 WO 2018170736 A1 WO2018170736 A1 WO 2018170736A1 CN 2017077530 W CN2017077530 W CN 2017077530W WO 2018170736 A1 WO2018170736 A1 WO 2018170736A1
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WIPO (PCT)
Prior art keywords
information
drone
supervision
frame
supervised
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
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PCT/CN2017/077530
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English (en)
Chinese (zh)
Inventor
林星森
饶雄斌
龚明
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN201780005609.XA priority Critical patent/CN108684204B/zh
Priority to PCT/CN2017/077530 priority patent/WO2018170736A1/fr
Publication of WO2018170736A1 publication Critical patent/WO2018170736A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft

Definitions

  • the embodiments of the present invention relate to the field of drones, and in particular, to a drone control method and a control device, a drone monitoring method, a supervisory device, and a drone.
  • the monitoring and discovery technologies for drones can include phased array radar, electronic imaging, acoustic wave detection and RF signal detection, but these technologies are not yet mature enough to be used to find small drones, even It is also impossible to provide information on the identity and geographical location of the drone, and these technologies have the disadvantages of instability, short distance or low accuracy.
  • the details can be as follows: 1. Phased array radar: Because the small unmanned aerial vehicle has small volume, small reflective surface and short radar action distance, it is not easy to distinguish the target from the drone or other objects, and the probability of false detection is high. Moreover, the use of phased array radar is large, which increases the difficulty of site layout. 2.
  • the detection probability is low, secondly, the long-distance detection requires a large-caliber lens, and the third is that it is difficult to distinguish the target is a drone or For flying birds, thermal imaging technology has the same problems as above; 3.
  • Acoustic detection Compared with other technologies, the detection distance is shorter and the interference from environmental noise is large, especially when multiple UAVs appear at the same time. Identification of a single target; 4, RF signal detection: Since UAVs generally use ISM (Industrial Scientific Medical) band signals, and there are many devices using such bands, and different types of UAV signal characteristics are different, which is difficult The UAV signal is detected from the characteristic area of the RF signal. At the same time, the UAV signal is difficult to crack, and after the UAV signal is cracked, the manufacturer may perform a firmware update to repair the UAV signal. Vulnerabilities, easy to make the crack method invalid.
  • the drone can also be broadcasted by carrying an ADS-B device, and the ground is equipped with a radar device for detection to achieve supervision.
  • the ADS-B device is a high-power transmitting device (greater than 100W)
  • the radar detection on the ground has certain requirements on the size and flying height of the target aircraft.
  • small and medium-sized micro-UAVs featuring low/slow/small/multiple it is difficult to achieve efficient detection.
  • the embodiment of the invention provides a drone control method and a control device, a drone supervision method, a supervision device and a drone for realizing supervision of the drone.
  • the first aspect of the present invention provides a drone control method, which may include:
  • the transmitter transmits the supervised frame or the supervised subframe in a preset length of time slice and/or a preset frequency point.
  • a second aspect of the present invention provides a method for supervising a drone, which may include:
  • a third aspect of the present invention provides a control device, which may include:
  • a processor configured to acquire supervisory information of the drone, and configure the supervisory information into a supervisory frame or a supervised subframe;
  • the transmitter is configured to send a supervisory frame or a supervised subframe in a working channel of the communication network between the drone and the control terminal within a preset length of time slice and/or a preset frequency point.
  • a fourth aspect of the present invention provides a monitoring device, which may include:
  • a detector for scanning a working channel of a communication network between the drone and the control terminal, and acquiring data transmitted from the drone;
  • the processor is configured to determine a supervision frame or a supervision subframe from the data, and obtain the supervision information of the drone from the supervision frame or the supervision subframe.
  • a fifth aspect of the present invention provides a drone, which may include:
  • a control device as described in the third aspect is a control device as described in the third aspect.
  • the present invention can utilize the supervision information between the UAV and the control terminal in a preset time slice and/or a preset frequency point by configuring the supervision information into a supervision frame or a supervision subframe.
  • the working channel of the communication network sends a supervisory frame or a supervised subframe, thereby supervising the device to the drone
  • the UAV can be realized.
  • Supervision This ensures that the supervisory equipment obtains the real-time information of the drone's supervisory information and protects the privacy of the drone users.
  • the method of creating a supervisory frame or supervising the subframe by software does not need to change the hardware structure of the drone or increase The hardware cost of the drone can easily and efficiently enable the supervisory equipment to obtain the supervisory information of the drone.
  • FIG. 1 is a schematic diagram of data transmission of a drone according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of an embodiment of a method for controlling a drone according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of another embodiment of a method for controlling a drone according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a first structure of a supervision subframe according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of a second structure of a supervision subframe according to an embodiment of the present disclosure.
  • FIG. 6 is a schematic diagram of a third structure of a supervision subframe according to an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of another embodiment of a method for controlling a drone according to an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of another embodiment of a method for controlling a drone according to an embodiment of the present invention.
  • FIG. 9 is a schematic diagram of another embodiment of a method for controlling a drone according to an embodiment of the present invention.
  • FIG. 10 is a schematic diagram of an embodiment of a method for supervising a drone according to an embodiment of the present invention.
  • FIG. 11 is a schematic diagram of another embodiment of a method for supervising a drone according to an embodiment of the present invention.
  • FIG. 12 is a schematic diagram of data transmission of a remote supervision platform according to an embodiment of the present invention.
  • FIG. 13 is a schematic diagram of another embodiment of a method for supervising a drone according to an embodiment of the present invention.
  • FIG. 14 is a schematic diagram of an embodiment of a control device according to an embodiment of the present invention.
  • FIG. 15 is a schematic diagram of an embodiment of a supervisory device according to an embodiment of the present invention.
  • FIG. 16 is a schematic diagram of another embodiment of a supervisory device according to an embodiment of the present invention.
  • the embodiment of the invention provides a drone control method and a control device, a drone supervision method, a supervision device and a drone for realizing supervision of the drone.
  • the drone can be connected with the control terminal to realize the flight control of the control terminal to the drone, and the drone can collect the The data is sent to the control terminal.
  • the drone can also be supervised by the supervising device, that is, the supervising device can acquire the communication data between the drone and its control terminal.
  • SDR Software Defined Radio
  • SDR is a radio broadcast communication technology.
  • SDR adopts a standardized and modular universal hardware platform, which can be based on software-defined parts such as working frequency band, modulation mode, and data format. Communication protocols, etc. are implemented by software. Since the software is easy to download and upgrade, there is no need to completely replace the hardware.
  • SDR technology is adopted by many drone manufacturers due to its software-defined flexibility.
  • SDR technology as a wireless communication technology with strong flexibility and openness, can be changed to different communication protocols by slightly modifying some of its parameters. Therefore, when the UDR and the control terminal establish a communication connection through the SDR technology, it is difficult for the supervisory device in the prior art to find a general method for monitoring the communication system based on the SDR technology to realize the UAV. Supervision.
  • the UAV manufacturers usually do not disclose the technical details of the SDR technology when manufacturing the drone, making it difficult to implement the drones that the regulatory equipment manufactures for different companies. Supervision.
  • the interception of the information content of the drone using the SDR technology can be realized by brute force cracking, and then the identity information of the drone is known.
  • Regulatory information such as location information, but the time required for brute force cracking is long, and it is difficult to ensure the real-time requirements of monitoring equipment for drone monitoring.
  • drones usually incorporate advanced information encryption functions, which makes it more expensive for regulatory devices to obtain regulatory information such as identity information and location information of drones through brute force cracking, which is not conducive to control and supervision. cost.
  • a drone control method and a control device, a drone monitoring method, a supervisory device, and a drone are proposed.
  • the drone can configure the supervisory information by acquiring the supervisory information of the drone.
  • the supervisory frame or the supervisory subframe is different from the traditional frame or subframe in which the data is transmitted between the drone and the control terminal.
  • the supervisory device only needs to receive the supervisory frame or the supervisory subframe.
  • the scheme fully utilizes the flexibility of the software definition of the SDR technology to create a regulatory frame or a supervised subframe configured to include the supervisory information, and the supervisory frame can be obtained by using the supervised device or the supervised subframe as a carrier.
  • the supervision information of the drone does not need to crack the traditional frame or subframe sent by the drone or the control terminal to obtain the supervision information of the drone, thus ensuring the real-time performance of the supervisory equipment to obtain the supervision information of the drone. At the same time, it protects the privacy of the drone users.
  • the software can configure the supervision frame or supervise the sub-frames without changing the hardware configuration of the drone. Low-cost UAV regulation.
  • the unmanned aerial vehicle may be a rotorcraft, a fixed-wing aircraft, or an aircraft in which a fixed wing and a rotor are mixed.
  • the rotorcraft may include, but is not limited to, a single rotor, a double rotor, a three-rotor, a quadrotor, a six-rotor, and the like, and is not limited herein.
  • the drone can realize multi-dimensional motion, such as vertical motion, pitch motion, roll motion, back and forth motion, etc., and an auxiliary device for the carrier can be mounted on the fuselage to enable the fixing of the carrier.
  • the carrier on the auxiliary device may include a camera, a camera or a sensor, etc.
  • the posture of the carrier for example, changing the height, inclination and/or direction of the carrier
  • the carrier on the auxiliary device may include a camera, a camera or a sensor, etc.
  • control terminal may include, but is not limited to, one of a remote controller, a smart phone, a tablet, a smart wearable device (watch, a wristband), a ground control station, a PC, a laptop, and the like.
  • a remote controller a smart phone
  • a tablet a smart wearable device (watch, a wristband)
  • a ground control station a PC, a laptop, and the like.
  • the drone establishes a connection with the control terminal.
  • the uplink data of the drone refers to the communication data sent from the control terminal to the drone
  • the downlink data of the drone refers to the communication data sent from the drone to the control terminal. The description will not be repeated later.
  • an embodiment of the UAV control method in the embodiment of the present invention includes:
  • both the drone and the control terminal can be used as an execution body to acquire the supervisory information of the drone during the flight of the drone.
  • the processor can be used to configure the supervisory information into a supervisory frame or a supervisory subframe.
  • one frame transmitted between the UAV and the control terminal or any one subframe in one frame can be configured to be sent through downlink data, it can also be configured to be sent through uplink data, and therefore, will be supervised
  • the supervised or supervised sub-frame can be sent through the downlink data, that is, the supervised or supervised sub-frame is sent by the drone, and the supervised or supervised sub-frame can also be sent.
  • the data is transmitted, that is, the supervisory frame or the supervisory subframe is transmitted through the control terminal connected to the drone.
  • the processor may be configured on the drone or may be configured on the control terminal.
  • the processor is configured on the drone, which is not limited herein.
  • the transmitter transmits the supervised frame or the supervised subframe in a preset time slice and/or a preset frequency.
  • the transmitter may be used in the working channel of the communication network between the UAV and the control terminal.
  • a supervisory frame or a supervisory subframe is transmitted on a time slice and/or a preset frequency point of a length.
  • the connection based on the wired communication network is not conducive to the flight control of the drone.
  • the communication network between the drone and the control terminal may be a wireless communication network.
  • the supervised frame or the supervised subframe can be sent in a preset length of time, that is, in the radio frame format.
  • a time slice divided into a preset length is used to send a supervision frame or a supervision subframe, and the remaining time slice can be used to send a frame other than the supervision frame or the supervision subframe or other subframes (ie, the aforementioned part of the unmanned a traditional frame or subframe sent by the machine or the control terminal; or a supervisory frame or a supervisor can be sent at a preset frequency
  • a frame is sent outside the preset frequency point or other frames or other subframes other than the super control subframe.
  • the supervised frame or the supervised sub-frame can also be sent in the preset time slice and the preset frequency to clear The length of the time slice and the frequency point at which the supervisory frame or supervisory subframe is sent.
  • the drone or The control terminal may select one of the multiple working channels to send a supervision frame or a supervision subframe, where the supervision channel or the supervision subframe may be sent according to the preset frequency point, and the working channel may be performed according to the preset frequency point. select.
  • the transmitter sends a supervision frame or a supervision subframe
  • the transmitter's transmit power can be adjusted, so that the supervisory frame or the supervisory subframe can work in the communication network between the drone and the control terminal when transmitting.
  • the transmission is performed within the width of the frequency band in which the channel is located.
  • the communication connection between the UAV and the control terminal can be based on the SDR technology, and in actual applications, it can be other, as long as the supervised frame or the supervised subframe can be transmitted. This is not limited here.
  • the transmitter may be disposed on the drone or may be disposed on the control terminal, which is not limited herein. Since the supervised frame or the supervised subframe sent by the control terminal is easily blocked by vegetation, buildings, mountains, etc., preferably, the transmitter can be set on the drone, and the supervised frame or the supervised subframe is transmitted using the downlink data of the drone.
  • the supervision frame or the supervision subframe is sent in the preset time slice and/or the preset frequency point, so that the supervision device can obtain the supervision frame. Or supervise sub-frames to obtain regulatory information.
  • the supervisory device supervises the drone, it is not necessary to crack the other frames or subframes transmitted between the drone and the control terminal to obtain the supervisory information, and only need to obtain the supervised frame or the supervised subframe, which is beneficial to the fault. In the case of non-violent hacking of other frames or other sub-frames, this ensures that the supervised device obtains the real-time status of the drone's supervisory information, and at the same time protects the privacy of the drone users.
  • the regulatory frame or the supervisor is configured by software. In the form of frames, the supervisory device can easily and efficiently obtain the supervisory information of the drone without increasing the hardware cost.
  • the supervision frame or the supervision subframe can be sent in a preset length of time slice and/or a preset frequency point, the following will be the main body of the drone, for a preset time slice.
  • the method for transmitting a supervisory frame or a supervised subframe on a preset frequency point is schematically illustrated, wherein the processor and/or the transmitter may be configured on the drone.
  • an embodiment of a method for controlling a drone according to an embodiment of the present invention includes:
  • the drone in order to facilitate the supervision of the drone, the drone can acquire the supervisory information of the drone during the flight of the drone.
  • the supervisory information in this embodiment is used as the information indicating the parameters related to the drone, and may include but is not limited to the identity information, location information, flight parameter information, flight attitude information, owner information, and purchase time information of the drone.
  • the identity information may include, but is not limited to, a vendor identifier and a model of the drone; the location information of the drone may include, but is not limited to, current location information of the drone, and at least location information of the drone when it takes off.
  • the flight parameter information may include, but is not limited to, at least one of a maximum flight speed, a maximum flight altitude, and a current flight speed; the flight attitude information may include, but is not limited to, at least one of a roll angle, a pitch angle, and a yaw angle.
  • the hardware configuration information may include at least but not limited to configuration information of the payload of the drone; the check bit information may be a cyclic redundancy CRC check code; and the location information of the control terminal may include, but is not limited to, when the drone takes off. At least one of location information and location information output by the positioning device on the control terminal.
  • the drone collects itself: the drone can be equipped with a sensing system and a memory, wherein the sensing system can be used to obtain the current position information and/or flight attitude information of the drone, and the memory can store unmanned Identity information of the aircraft, flight maximum speed and/or flight maximum altitude, owner information, purchase time information, purchase location information, historical flight path information, hardware configuration information, and location information of the control terminal A variety of check digit information can be provided by the processor to verify other information, and the drone can obtain the above information stored in the memory through the processor.
  • the sensing system may include a GNSS (Global Navigation Satellite System) device, and the GNSS device may be a GPS (Global Positioning System) device, and the GNSS device or the GPS device may implement the UAV. Positioning to capture the current location information of the drone.
  • the sensing system can also include an inertial measurement unit IMU, which can rely on the gyroscope to obtain the flight attitude information of the drone, and can also rely on the accelerometer to obtain no The current flight speed of the man-machine to determine the current flight status of the drone.
  • IMU inertial measurement unit
  • the sensing system in this embodiment may be an ultrasonic sensor, a radar wave sensor, a visual sensor (such as a camera), or a combination thereof, in addition to the above description, in particular, Make a limit.
  • the sensing system may be stored in the memory of the drone after acquiring the location information and/or the flight attitude information. To form the historical flight path information of the drone, and the maximum speed of flight and the maximum altitude of the flight accumulated by the drone during the historical flight.
  • the maximum flight speed and the maximum altitude of the flight parameter information are the intrinsic parameters of the drone, then in the case of the drone, the identity information of the drone, the maximum flight speed and/or the flight maximum in the flight parameter information
  • the height and hardware configuration information can be recorded in the memory before the drone is shipped from the factory, or it can be recorded by the owner of the drone after the drone is shipped from the factory, and the owner information, purchase time information, and purchase of the drone Location information can be recorded after the drone is shipped from the factory.
  • the sensing system on the drone can also acquire the position information of the drone when it takes off and store it in the memory. If the drone is close to the control terminal when taking off, then The position information of the drone when taking off can also be used as the position information of the control terminal.
  • the control terminal can be provided with the positioning device, and the drone can obtain the position information output by the positioning device of the control terminal as the position information storage of the control terminal. In the memory.
  • the drone may be provided with other payloads.
  • the drone may be equipped with Different instruments for collecting visual data, such as various cameras for image and/or video capture, depending on the type and use of the drone, such as agricultural missions, transportation probes, and sightseeing requests.
  • the drone can obtain regulatory information from an external data source: wherein, on the one hand, the drone can obtain supervisory information for transmitting uplink data using the drone in the working channel, in which case the control terminal can be The supervisory information of the drone is collected, and the control terminal can use the uplink data of the drone to send the supervisory information to the drone, so that the drone can obtain the supervisory information sent by the control terminal.
  • a control system can be provided on the control terminal, and the sensing system can locate and control the control terminal. After obtaining the location information collected by the sensing system, the terminal can use the uplink data of the drone to send the location information of the control terminal to the drone.
  • the supervisory information of the drone can also be provided by the server or the cloud, that is, the control terminal can obtain the supervisory information from the cloud or the server, and then the control terminal passes the supervisory information through the uplink data of the drone.
  • Send to the drone the drone sends its own identity serial number to the control terminal, and the control terminal sends the identity serial number to the server or the cloud, and the server can retrieve the monitoring information of the drone according to the identity serial number, such as all of the drones.
  • Information registered mailbox, phone
  • the server sends the supervision information to the control terminal, and the drone can obtain the supervision information from the control terminal.
  • the acquisition of the supervisory information may also be collected by the unmanned part, and partially obtained from the external data source, which is not limited herein.
  • the supervisory information of the drone can be obtained in real time or periodically, specifically Make a limit.
  • the drone may configure the supervisory information into a supervisory frame or a supervisory subframe according to a preset SDR technical specification.
  • the supervisory subframe is taken as an example for description. It is assumed that the supervisory information is configured into a supervisory subframe according to a preset SDR technical specification, that is, in the original radio frame format of the SDR communication system of the drone, a supervisor can be created.
  • the subframe, as shown in FIG. 4, the supervisory subframe may include at least one data field (DATA), and the at least one data field may include supervisory information, where the number of data fields may be based on the data volume of the supervisory information.
  • DATA data field
  • the supervisory information may be inserted into a data field, or the supervisory information may be split into multiple pieces of supervisory information, and Inserting at least one piece of supervisory information into each of the set multiple data fields. If the amount of data that can be carried by one data field is smaller than the amount of data of the supervisory information, the supervisory information may be split into multiple pieces of supervisory information. And inserting at least one piece of supervisory information in each of the set plurality of data fields.
  • the supervised subframe may further include at least one reference field (RS0, RS1), where the at least one reference field may be used for data synchronization with the supervising device of the drone, thereby enabling the supervising device Real-time supervision of drones.
  • RS0, RS1 at least one reference field
  • the preset SDR technical specifications may be specified by the supervised equipment of the drone or The technical specifications of the supervisory device of the drone enable the supervisory device to acquire or demodulate the supervisory subframe according to the preset SDR technical specification.
  • the preset SDR technical specification may be based on the TDD mode or the FDD mode.
  • the technical specification that is, the supervised subframe configured by the supervisory information, can satisfy the requirement of the frame structure when the communication mode of the communication network between the drone and the control terminal is the TDD mode or the FDD mode.
  • the preset SDR technical specification may include one or more of a preset working frequency band, a frequency point, a modulation mode, a data format, and a communication protocol.
  • the data field and/or the data field in the supervised subframe may be modulated according to a preset modulation manner.
  • the modulation manner of the data field and/or the data field may be quadrature phase shift keying QPSK. .
  • SDR technical specifications that are preset in this embodiment may include other content, such as an encryption mode, in addition to the content described above, which is not limited herein.
  • the processor may periodically set a time slice of a preset length.
  • the drone can periodically set the time slice of the preset length by using the processor.
  • the configuration of the supervisory subframe is configured as an example.
  • the configuration of the time slice with the preset length of T0 can be used.
  • a time slice with a time length of T1 (the length of the time slice of the preset length) is used as a supervised subframe.
  • 1 millisecond is used as a configuration subframe for 1 millisecond as a regulatory subframe, that is, in the original wireless frame format
  • the time interval T0-T1 can be configured by the policing information into a preset subframe of a preset length of time T1, wherein the supervised subframe can be sent by using downlink data, that is, the supervised subframe is sent by the drone, and The supervised subframe can also be sent through the uplink data, and is not specifically limited herein.
  • Other time slices except T1 in T0 can be used as other sub-frames to satisfy the transmission of other communication data between the UAV and the control terminal, wherein other sub-frames can be transmitted through the uplink data and transmitted through the uplink data.
  • the other sub-frames include at least a control command for the UAV.
  • other sub-frames may also be sent by using downlink data, where other sub-frames transmitted by the downlink data include at least images collected by the image acquisition device on the UAV. Data information, here for convenience, you can pass the number of uplinks
  • the other subframes that are transmitted are referred to as uplink subframes, and other subframes that are transmitted through downlink data are referred to as downlink subframes.
  • T1 can be located at any position within T0, such as the head end, but for the same drone, the position of T1 is fixed to meet the periodic setting of T1, and for different drones. In other words, the corresponding T1 positions can be inconsistent.
  • the length (T1) of the preset length of the time slice should meet the preset length requirement.
  • the ratio of the configuration period of the preset length of the time slice to the length of the preset length of the time slice may be greater than or It is equal to the preset threshold so as not to affect the transmission of other subframes between the drone and the control terminal.
  • T0 can be 500 times or more of T1.
  • the other sub-frames may include an uplink sub-frame and a downlink sub-frame, and in the FDD mode, the two signals are transmitted and received.
  • the other sub-frames may include the downlink sub-frames.
  • the super-subjects are transmitted through the uplink data
  • the other sub-frames may include the uplink sub-frames. Therefore, based on the communication mode of the communication network between the drone and the control terminal, other subframes may be different in different communication modes.
  • the other subframes are not limited to being sent by the UAV, and may also be sent by the control terminal connected to the UAV.
  • the specific content of the other sub-frames may be specifically determined according to the sending entity, which is not limited herein.
  • the transmitter sends the supervised frame or the supervised subframe according to a preset SDR technical specification in a periodically set preset time slice.
  • the pre-set of the transmitter may be used in the working channel of the communication network between the UAV and the control terminal.
  • the drone can utilize the transmitter on any working channel on the channel list, and utilize the preset time of the transmitter periodically set.
  • a supervisory frame or a supervisory subframe is sent on-chip.
  • different working channels have corresponding working states, the working states are inconsistent, and the quality of the working channels is inconsistent. Therefore, in order for the drone to transmit the supervisory frame or the supervisory subframe in the working channel with better channel quality, the drone can use the processor to acquire each of the plurality of working channels of the communication network between the drone and the control terminal. Work channel State.
  • the working state of the working channel may at least include the current bandwidth of the working channel.
  • each working channel provided by the communication network between the drone and the control terminal occupies a certain bandwidth, and the bandwidth of each working channel is inconsistent, and the transmission rate thereof is also inconsistent.
  • the bandwidth of 5 GHz is 100 MHz in total, and the average is divided into 10 working channels that do not interfere with each other
  • the bandwidth of each working channel is 10 MHz, and when there is overlap between several working channels
  • the bandwidth of the working channel is 10 MHz
  • the bandwidth of the 5 GHz band can be divided into more than 10 working channels that interfere with each other.
  • the drone can use the processor to acquire the current bandwidth of each working channel of the plurality of working channels of the communication network between the control terminal and the control terminal, Make appropriate selections for multiple working channels.
  • the working state of the working channel may include other parameters, such as the current capacity of the working channel, the current throughput, and the current error, in addition to the current bandwidth of the working channel described above. Rate, etc., not limited here.
  • the processor may select a sending supervision frame or a supervising subframe according to the working state.
  • Working channel Specifically, after the UAV acquires the working state of each of the working channels by using the processor, the working channel with the best working state may be selected as the working channel for sending the supervised frame or the supervised subframe.
  • the relevant parameters in the working state of each working channel may also be compared, so that one working channel with the relevant parameter is selected among the multiple working channels as the working channel for transmitting the supervision frame or the supervision subframe.
  • a working channel with no overlapping state and the best working state may be selected as the working channel for transmitting the supervision frame or the supervised subframe to reduce signal interference, or Select one of the working channels with the largest bandwidth to send a supervisory frame or a supervisory subframe.
  • a suitable working channel such as China's planned 840.5MHz to 845MHz, 1430MHz to 1444MHz and 2408MHz to 2440MHz bands for unmanned aircraft systems.
  • the drone can use the transmitter to send a supervised frame or a supervised sub-frame in a periodically set preset time slot in the selected working channel, and follow the content described in step 303, that is, in the period of T0.
  • a supervisory frame or a supervisory subframe is sent within T1.
  • the sending standard of the supervised frame or the supervised sub-frame may be according to a preset SDR technical specification
  • the preset SDR technical specification may be a technical specification known by a supervising device of the drone or a monitoring device of the drone
  • the supervisory device can obtain or demodulate the supervised subframe according to the preset SDR technical specification
  • the preset SDR technical specification can be a technical specification based on the TDD mode or the FDD mode, that is, the supervisor configured by the supervisory information.
  • the frame can satisfy the transmission requirement when the communication mode of the communication network between the drone and the control terminal is the TDD mode or the FDD mode.
  • the preset SDR technical specification may include one or more of a preset working frequency band, a frequency point, a modulation mode, a data format, and a communication protocol.
  • the operating frequency band of 2.4 GHz can be used as the frequency point of 2414.5 MHz, 2429.5 MHz, 2444.5 MHz, and 2459.5 MHz
  • the OFDM is used as the modulation mode.
  • the data format can carry two reference fields, data fields and reference for six data fields. The fields can be modulated by QPSK. It should be noted that the specific values of the preset SDR technical specifications in this embodiment are only examples. In actual applications, other numerical contents may also be used, which may be set according to actual monitoring requirements of the monitoring device. Not limited.
  • the control terminal may use the uplink data of the drone to implement the pair.
  • the transmission of the control command of the drone then the drone can use the transmitter to transmit other frames or other sub-frames outside the preset time slice, that is, transmit in different time slots with other frames or other sub-frames.
  • other frames or other sub-frames may be transmitted using the original SDR specification of the drone, ie, a supervised frame or One or more of the working frequency band, frequency point, modulation mode, data format, and communication protocol of the supervisory subframe may be different from other frames or other subframes.
  • the other data frame or other sub-frames may include work data information, and the work data information may include at least image data information collected by the UAV imaging device, such as photo information or real-time video information captured by a camera on the drone.
  • the frame structure of other frames or other sub-frames, and other requirements for carrying content refer to the existing SDR technology, and details are not described herein again.
  • the transmission of other frames or other subframes may not adopt the original SDR technical specifications of the drone, such as WI-FI technology or other custom communication protocols, etc.
  • the SDR technical specifications that are consistent with the sending of the policing frame or the policing subframe may also be used, which is not limited herein.
  • the UAV can use the processor to set the protection time slot in the start position and/or the end position in the time slice of the preset length.
  • the supervised sub-frame is taken as an example for description.
  • the guard time slot may be set at both the start position and the end position of the supervision subframe, that is, the sum of the length of the time slice of the supervision subframe and the length of the time slice of the protection slot may be T0, and the protection time slot may be It is used by the drone to use the transmitter to complete the switching between sending the supervision subframe and transmitting other subframes, that is, it reserves enough time for the radio frequency switching.
  • the protection time slot may be from 150 microseconds to 300 microseconds.
  • the UAV when the UAV is provided with multiple sets of radio frequency transceiver devices, if the receiving, transmitting, and transmitting of the supervised frame or the supervised subframe of other frames or other sub-frames are different radio frequency transceiving and transmitting,
  • the device may not be configured with a protection time slot, which is not limited herein.
  • the supervisory frame or the supervised subframe is prevented from stealing the supervisory information of the drone by the frame listening device other than the supervising device. Harm to the safety of the drone can enhance the security protection of the drone's regulatory information.
  • the UAV can use the processor to encrypt the supervised information according to a preset encryption rule, and can configure the encrypted supervised information into a supervised frame or a supervised subframe to enable the supervised frame. Or the supervised sub-frame cannot resolve the drone's supervisory information even after it has been stolen.
  • the preset encryption rule may be an encryption rule known to the supervising device of the drone, so that the supervising device may pass the known preset encryption rule after scanning the data containing the supervised frame or the supervised subframe. Decrypt the encrypted regulatory information, and use the obtained regulatory information to supervise the drone.
  • the frequency of the supervised frame or the supervised sub-frame sent in the preset length of time slice may be The frequency hopping is performed on the optional frequency point.
  • another embodiment of the control method in the embodiment of the present invention includes:
  • Steps 701 to 703 in this embodiment are the same as steps 301 to 303 in the embodiment shown in FIG. 3, and details are not described herein again.
  • the UAV after the UAV periodically sets the time slice of the preset length by using the processor, Determining a second frequency point different from the first frequency point, wherein the first frequency point may be a frequency point of the last supervisory frame or the last supervisory subframe transmitted.
  • the frequency between the adjacent regulatory frames or the supervised subframes may be inconsistent, that is, frequency hopping may occur, and then, when preparing to send the current supervised frame or the supervised subframe, The frequency point of the last supervision frame or the supervision subframe, that is, the first frequency point, is determined, and the second frequency point different from the first frequency point may be determined.
  • the frequency hopping pattern may be preset, so that the drone may determine a second frequency point different from the first frequency point according to the preset frequency hopping pattern, and the preset frequency hopping pattern may be a drone
  • the policing device specifies or knows the hopping pattern so that the policing device can acquire neighboring policing frames or policing subframes at a pre-known frequency.
  • the preset hopping pattern may be a randomly set hopping pattern. For example, if there are 3 frequency points of 2414.5MHz, 2429.5MHz, and 2444.5MHz, the frequency hopping is selected, and then the three frequencies may be selected. The frequency point is randomly set to a preset frequency hopping pattern.
  • the frequency hopping pattern determined according to the identification code of the drone can be used to distinguish the useful signal and the interference signal by the identification code of the drone, and The frequency hopping is performed when the drone and the control terminal cannot communicate in fixed frequency.
  • the determination of the preset hopping pattern in this embodiment may be performed in addition to the foregoing description. In actual applications, other methods may be adopted as long as the adjacent regulatory frame or the supervised subframe is satisfied. Frequency hopping can be used, which is not limited here.
  • the transmitter may be periodically set at the second frequency point in the working channel of the communication network between the drone and the control terminal.
  • the preset length of the time slice sends a supervision frame or a supervision subframe according to a preset SDR technical specification.
  • the plurality of working channels configured by the communication network between the drone and the control terminal may be selected according to the second frequency point when the working channel is selected as the transmission supervision frame or the supervision subframe.
  • another embodiment of the UAV control method in the embodiment of the present invention includes:
  • Step 801 to step 802 in this embodiment and step 301 to step in the embodiment shown in FIG. 302 is the same and will not be described here.
  • the transmitter In the working channel of the communication network between the UAV and the control terminal, the transmitter periodically transmits the supervised frame or the supervised subframe according to a preset SDR technical specification at a preset frequency point.
  • the UAV after the UAV configures the supervision information into a supervision frame or a supervision subframe according to a preset SDR technical specification, the UAV can use the transmitter in the working channel of the communication network between the UAV and the control terminal.
  • a preset frame or a supervisory subframe is periodically transmitted according to a preset SDR technical specification at a preset frequency point.
  • the step 304 is to send a supervised frame or a supervised subframe in a periodically set preset time slice.
  • the preset frequency is followed. Periodically sending a supervision frame or a supervised subframe, and does not limit the length of a time slice for transmitting a supervised frame or a supervised subframe, and the preset frequency may be a frequency specified or known by the supervising device of the drone to facilitate the frequency
  • the supervisory device obtains a supervisory frame or a supervisory subframe.
  • the control terminal can use the uplink data of the drone to realize the control of the drone.
  • the drone can use the transmitter to transmit other frames or other sub-frames at other frequency points than the preset frequency point, that is, transmit with other frames or other sub-frames in different frequency channels, which can prevent the supervision frame or Regulates signal interference between sub-frames and other frames or other sub-frames.
  • the other content in this embodiment may refer to the content of the description in step 304 in the embodiment shown in FIG. 3, and details are not described herein again.
  • the supervised frame or the supervised subframe may be sent at multiple preset frequency points.
  • the frequency hopping is performed on the frequency selective point.
  • Steps 901 to 902 in this embodiment are the same as steps 301 to 302 in the embodiment shown in FIG. 3, and details are not described herein again.
  • the second pre-determination different from the first preset frequency point may be determined among the plurality of preset frequency points.
  • the first preset frequency point is the frequency of the last supervised frame or the last supervised subframe that is sent.
  • multiple frequency points can be selected to be preset into a plurality of preset frequency points, so that the supervised frame or the supervised sub-frame can be in multiple pre-preparations.
  • a supervised frame or a supervised sub-frame can be selected and sent at one of a plurality of preset frequency points, for example, the drone can be at 2414.5MHz, 2429.5MHz, 2444.5MHz, 2459.5 Select one frequency point to transmit a supervisory frame or a supervisory subframe on the four preset frequency points of MHz, and in order to avoid sending corresponding supervisory frames or supervised subframes at the same frequency point with other drones, causing different drones to send
  • the collision between the supervised frame or the supervised sub-frame when preparing to send the current supervised frame or the supervised sub-frame, the drone may first determine the frequency of the last supervised frame or the supervised sub-frame, that is, the first preset frequency point. And determining a second preset frequency point different from the first preset frequency point among the plurality of preset frequency points.
  • the hopping pattern may be preset, so that the drone can determine a second preset frequency point different from the first preset frequency point among the plurality of preset frequency points according to the preset hopping pattern.
  • the preset hopping pattern may specify or known a hopping pattern for the supervising device of the drone so that the policing device can acquire the adjacent policing frame or the policing subframe at the predicted frequency.
  • the preset hopping pattern may be randomly set by using the plurality of preset frequency points, and may also be determined according to the identifier of the drone, and the hopping pattern determined according to the identifier of the drone is determined.
  • the frequency point in the middle may be the plurality of preset frequency points mentioned above.
  • the determination of the preset hopping pattern in this embodiment may be performed in addition to the foregoing description. In actual applications, other methods may be adopted as long as the adjacent regulatory frame or the supervised subframe is satisfied. Frequency hopping can be used, which is not limited here.
  • the frequency point in the preset frequency hopping pattern may be all the frequency points of the plurality of preset frequency points, or may be part of the plurality of preset frequency points. Point, here is not limited.
  • the period may be at the second preset frequency point.
  • the transmitter is used to transmit a supervisory frame or a supervisory subframe.
  • the content of the embodiment is as described in the embodiment shown in FIG. 8 , and details are not described herein again.
  • the embodiment shown in FIG. 3, the embodiment shown in FIG. 7 and the embodiment shown in FIG. 8 and the embodiment shown in FIG. 9 may also be used in combination, that is, Send a supervisory frame or a supervisory subframe in a preset time slice and a preset frequency. Different parts can participate in each other. Photo or select an application, which will not be described here.
  • an embodiment of a UAV supervision method according to an embodiment of the present invention includes:
  • the supervisory device may use the detector to scan the working channel of the communication network between the drone and the control terminal to obtain the slave drone.
  • the monitoring device may be provided with a detector, and the detector may cyclically scan on a working channel of the communication network between the drone and the control terminal to detect whether the drone is transmitted in the working channel, including being configured by the supervisory information.
  • the communication network between the drone and the control terminal may be a wireless communication network.
  • the communication network between the drone and the control terminal can be known to the supervisory device. Therefore, the supervisory device can use the detector to scan the working channel of the known communication network to acquire the data transmitted by the drone in the working channel.
  • the communication connection between the UAV and the control terminal can be based on the SDR technology, and the supervisory device can use the detector to scan the working channel of the UDR and the control terminal based on the SDR technology, in practice.
  • the UAV and the control terminal can also establish a connection based on other communication technologies, such as a customized modulation mode or a communication protocol, which is not limited herein.
  • 1002 Using a processor to determine a supervision frame or a supervision subframe from the data;
  • the supervisory device uses the detector to scan the working channel of the communication network between the drone and the control terminal, and obtains the data transmitted by the drone, and then uses the processor to determine the supervision frame or the supervision subframe from the data.
  • the drone can also implement the communication data with the control terminal.
  • Transmission may include other frames or other subframes other than the supervision frame or the supervision frame, that is, the data of the drone may be a supervision frame or a supervisory sub-frame
  • the supervisory device needs to use the processor to determine the supervision frame or the supervision from the data sent by the drone. Subframes to get regulatory information for drones.
  • the processor may use the processor to demodulate the obtained supervised frame or the supervised subframe to obtain the unsupervised frame or the supervised subframe.
  • the supervision information of the man-machine so that the relevant parameters of the drone can be understood through the obtained supervisory information of the drone, and the supervision of the drone is realized.
  • the supervising device can obtain no based on the corresponding manner.
  • the supervision information of man-machine is described below:
  • another embodiment of the UAV supervision method in the embodiment of the present invention includes:
  • the detector can be used to scan multiple working channels of the communication network between the drone and the control terminal.
  • the corresponding communication network may have multiple working channels for transmitting data between the UAV and the control terminal. Since the UAV mostly uses peer-to-peer communication, then none The working channel used by the human machine may be different, and it is not clear that the drone specifically uses a certain working channel.
  • the supervisory device can use the detector to scan multiple working channels, Through the use of multiple receiving channels sub-band coverage, the acquisition time can be guaranteed to meet the regulatory requirements, and the supervision of one or more drones can be realized.
  • the monitoring device may use different detectors to scan multiple working channels, as follows:
  • the monitoring device is provided with a detector, and one detector can perform cyclic cycle scanning on multiple working channels, for example, It is assumed that based on the communication network between the UAV and the control terminal, the plurality of working channels that the UAV can use are the working channel 1, the working channel 2, and the working channel 3, then the supervisory device can use the detector to sequentially work channel 1.
  • the working channel 2 and the working channel 3 perform cyclic scanning.
  • the supervising device may be provided with a plurality of detectors, each of which may scan the preset a number of working channels to enable scanning of multiple channels. For example, assuming a communication network between the drone and the control terminal, the plurality of working channels that the drone can use are 10 working channels, on the supervisory device. With five detectors, each detector can scan two working channels in turn. It should be noted that, when there are multiple detectors in this embodiment, the preset number of working channels scanned by each detector may be inconsistent. For example, one detector may scan two working channels in turn, and another detector may The three working channels are scanned in turn. This embodiment is for illustrative purposes only and is not limited herein.
  • multiple detectors may be disposed on one supervisory device, and the multiple detectors may be disposed in different regions, and the multiple detectors and the processing device are processed.
  • the devices can be connected by wire or wirelessly.
  • multiple detectors can also be provided on multiple supervisory devices.
  • one supervisory device can be configured with at least one probe.
  • each supervisory device is configured in a different area, so that the supervisory device can be located in different geographical locations to supervise the drone.
  • the supervisory device can be located in the restricted area or in the non-limited area, specifically here Not limited.
  • the receiving supervision device capture the data containing the supervised frame or the supervised sub-frame, but also the redundant backup function can be implemented, in which the receiving channel of one of the detectors is damaged.
  • the full-band coverage can be achieved with the receiving channels of the remaining detectors, thereby improving the reliability of the supervisory equipment.
  • the restricted flight area is an area that restricts the flight of the drone.
  • the detector can be used to acquire the sent by the drone. data.
  • the data sent by the UAV may include a supervision frame or a supervision subframe and other frames or other sub-frames other than the supervision frame or the supervision subframe. frame.
  • the other frame or other subframes may be sent by the uplink data, and the other frames or other subframes sent by the uplink data include at least a control command for the drone, and the other frames or other subframes are sent by the control terminal.
  • other frames or other subframes may also be sent by using downlink data
  • other frames or other subframes transmitted by the downlink data include at least work data information of the drone
  • the work data information may include at least Image data acquired by the imaging device Information, such as photo information or real-time recording information taken by a camera on the drone, is transmitted by the drone.
  • the supervisory device can utilize the probe.
  • the device periodically acquires the data of the drone.
  • the supervisory device can also use the detector to acquire the data of the drone in real time, which is not limited herein.
  • the drone can transmit the supervised frame or the supervised subframe by using a preset SDR technical specification standard
  • other frames other than the supervised frame or the supervised subframe or other subframes can be utilized differently from the pre-prepared If the SDR technical specification of the SDR technical specification is sent, one or more of the working frequency band, frequency point, modulation mode, data format, and communication protocol between the supervised frame or the supervised subframe and other frames or other sub-frames may be Different, the supervising device may obtain a supervised frame or a supervised subframe according to a known or specified preset SDR technical specification, and may follow a known or specified SDR technical specification different from the preset SDR technical specification. Get other frames or other sub-frames other than the supervision frame or the supervision sub-frame.
  • the supervisory device can acquire the data of the drone based on the TDD mode or the FDD mode, that is, according to the drone sending the supervision frame or supervision In the manner of sub-frames, data of the drone is acquired in different time slots in the same working channel, or data of the drone is acquired on different working channels.
  • the supervising device may determine the supervised frame or the supervised subframe from the data by using at least one reference field.
  • the supervised frame or the supervised sub-frame is a frame or a sub-frame created by the UAV based on the SDR technology, and the other frame or other sub-frames other than the supervised frame or the supervised sub-frame are unmanned.
  • the original radio frame based on SDR technology that is, a normal frame or subframe.
  • at least one reference field may be included, and if the at least one reference field is used as a special field for identifying a supervised frame or a supervised subframe, after the supervising device acquires the data of the drone, A supervised frame or a supervised subframe may be determined from the data based on the at least one reference field.
  • the transmission frequency between the adjacent two supervised frames or the supervised subframe is inconsistent, and the supervising device acquires two adjacent supervised frames.
  • the supervisory device can utilize the probe in two adjacent supervisory frames or supervised subframes. Scanning in the working channel where the corresponding transmission frequency point is located to obtain data sent by the same drone obtained at different frequency points may include two adjacent supervised frames or supervised sub-frames.
  • the UAV can send two adjacent supervised frames or supervised subframes according to a preset hopping pattern, and the preset hopping pattern can be a hopping pattern specified or known by the supervising device, so that the supervising device determines according to the hopping pattern.
  • the transmission frequency of the previous supervised frame or the supervised sub-frame and the preset hopping pattern can predict the transmission frequency of the next supervised frame or the supervised sub-frame, and can obtain the next supervised according to the predicted transmit frequency.
  • Frame or supervised sub-frame data can be a hopping pattern specified or known by the supervising device, so that the supervising device determines according to the hopping pattern.
  • the preset hopping pattern in this embodiment may be a randomly set hopping pattern, or may be a hopping pattern determined according to the identifier of the drone, and the specific content may refer to the foregoing description. I will not repeat them here.
  • the supervisory device determines the supervised frame or the supervised subframe from the data by using at least one reference field
  • the data field in the supervised frame or the supervised subframe may be used according to the reference field to the data field in the supervised frame or the supervised subframe. Synchronization is performed to demodulate regulatory information from the data fields.
  • the supervisory frame or the supervised subframe may include at least one data field in addition to at least one reference field, and the at least one data field may include supervisory information.
  • the reference field has characteristics that are distinct from the data field
  • the supervisory device recognizes the reference field, not only the supervision frame or the supervision subframe but also the supervision frame or the supervision subframe is completed.
  • the synchronization of the data fields determines the start and end of the data field, as shown in Figure 4. Therefore, the supervisory device can correctly extract the data field from the supervision frame or the supervision subframe according to the reference field, and can obtain the supervision information in the data field.
  • supervisory information when the supervisory information is split into multiple pieces of supervisory information and inserted in multiple corresponding data fields, multiple pieces of supervisory information can be combined to obtain complete supervision information.
  • the supervision frame or the supervision subframe can be configured by the supervision information according to the preset SDR technical specification
  • the supervision device can follow the preset.
  • the SDR technical specification demodulates the supervised frame or the supervised subframe. For example, when the modulation mode of the data field and/or the reference field in the supervised frame or the supervised subframe is QPSK, the supervising device can utilize the demodulation method corresponding to QPSK.
  • the data field is demodulated to obtain regulatory information in the data field.
  • the supervisory information acquired by the supervisory device may include, but is not limited to, the identity information of the drone, location information, flight parameter information, flight attitude information, owner information, purchase time information, purchase location information, One or more of historical flight path information, hardware configuration information, check bit information, and position information of the control terminal.
  • the supervisory equipment can understand the relevant parameters of the drone and better supervise the drone. For example, by obtaining the location information of the drone in the supervisory information, the drone can be realized. Positioning.
  • the identity information may include, but is not limited to, a vendor identifier and a model of the drone; the location information of the drone may include, but is not limited to, current location information of the drone, and at least location information of the drone when it takes off.
  • the flight parameter information may include, but is not limited to, at least one of a maximum flight speed, a maximum flight altitude, and a current flight speed; the flight attitude information may include, but is not limited to, at least one of a roll angle, a pitch angle, and a yaw angle.
  • the hardware configuration information may include at least but not limited to configuration information of the payload of the drone; the check bit information may be a cyclic redundancy CRC check code; and the location information of the control terminal may include, but is not limited to, when the drone takes off. At least one of location information and location information output by the positioning device on the control terminal.
  • the monitoring device may be provided with a display on which the supervisory information of the drone may be displayed to visually and clearly reflect the relevant parameters of the drone to the supervisory user.
  • Information can be understood that the display manner of the supervisory information on the display can be various, such as a list, which is not limited herein.
  • the processor can further evaluate the danger level of the drone according to the regulatory information, so that different emergency measures can be formulated or started according to the dangerous level of the drone, and different Classification of dangerous levels of drones and safety supervision.
  • the hazard level can be used to describe the current level of safety of the drone.
  • the supervisory device may use the processor to determine the location information of the drone in the supervisory information, and may use the location information to evaluate the danger level of the drone.
  • the processor may further determine the location based on the location information of the drone.
  • the flight path of the man-machine then by analyzing the flight path of the drone and comparing with the preset flight path, it can be determined whether the drone deviates from the preset flight path. If the degree of deviation is greater, the higher the dangerous level
  • the processor can perform intrusion detection such as a limited flight area according to the position information of the drone, and the hazard level will be higher if the drone is closer to the limited flight area.
  • the supervisory device uses the processor to determine the danger level of the drone.
  • other methods can be used as long as the danger level of the drone can be evaluated.
  • the processor can be used to acquire the detected.
  • the position of the detector of the drone is to determine whether the drone is located in an unlawful operation area, for example, to evaluate the danger level of the drone, which is not limited herein.
  • a remote monitoring platform connected to the supervisory device may be provided.
  • FIG. 12 it is assumed that there are a drone 1, a drone 2, and a drone 3, correspondingly, There may be a control terminal 1 communicatively coupled to the drone 1 , a control terminal 2 communicatively coupled to the drone 2 , a control terminal 3 communicatively coupled to the drone 3 , and a supervisory device 1 that supervises the drone 1
  • the supervising device 2 of the drone 2, the supervising device 3 of the drone 3, and the supervising device 1, the supervising device 2, and the supervising device 3 can all communicate with the remote monitoring platform, and the remote monitoring platform can acquire multiple monitoring devices.
  • Steps 1301 to 1304 in this embodiment are the same as steps 1101 to 1104 in the embodiment shown in FIG. 11, and details are not described herein again.
  • the supervisory device uses the processor to demodulate the supervisory information of the drone from the supervisory frame or the supervisory subframe
  • the supervisory information may also be sent to the remote supervisory platform by using the processor.
  • the processor can further send the supervisory information to the remote monitoring platform, so that the remote monitoring platform can uniformly manage the supervised device. And can realize remote supervision of drones.
  • the drone may encrypt the supervisory information of the drone by using a preset encryption rule, and may encrypt the encrypted If the policing information is configured as a policing frame or a policing sub-frame, if the policing information in the policing frame or the policing sub-frame is detected as the ciphering information, the pre-defined decryption rule can be used.
  • the preset decryption rule may be set according to the encryption rule preset by the supervision information) to decrypt the supervision information, and send the decrypted supervision information to the remote supervision platform.
  • the preset decryption rule for the supervisory information can refer to the prior art corresponding to the encryption rule preset by the supervisory information, and details are not described herein again.
  • an embodiment of the control device in the embodiment of the present invention includes:
  • the transmitter 1401 and the processor 1402 (wherein the number of the processors 1402 may be one or more, and one processor 1402 is taken as an example in FIG. 14).
  • the processor 1402 is configured to acquire the supervision information of the drone, and configure the supervision information into a supervision frame or a supervision subframe.
  • the transmitter 1401 is configured to send a supervision frame or a supervision subframe in a working channel of the communication network between the UAV and the control terminal within a preset length of time slice and/or a preset frequency point.
  • the processor 1402 is further configured to:
  • the transmitter 1401 is further configured to:
  • the transmitter or the supervisory subframe is transmitted by the transmitter according to a preset SDR technical specification in a preset length of time slice and/or a preset frequency point.
  • the processor 1402 is further configured to:
  • the transmitter 1401 can further be used for:
  • the transmitter transmits a supervisory frame or a supervisory subframe within a preset time slice of the periodically set period.
  • the transmitter 1401 is further configured to:
  • the processor 1402 is further configured to:
  • a guard slot is set at a start position and/or an end position within a preset length of time slice, wherein the guard slot is used to complete the transmission of the supervision frame or the supervised subframe with the transmission of other frames or other subframes by using the transmitter. Switch.
  • the processor 1401 is further configured to:
  • the transmitter 1401 is further configured to: send a supervision frame or a supervision subframe in a preset time slice on the second frequency point;
  • the first frequency point is the frequency of the last supervisory frame or the last supervisory subframe sent.
  • the transmitter 1401 is further configured to:
  • the transmitter 1401 is further configured to:
  • the supervision frame or the supervision subframe is periodically sent at a preset frequency point.
  • the transmitter 1401 is further configured to:
  • the transmitter 1401 is further configured to:
  • a supervisory frame or a supervisory subframe is transmitted on multiple preset frequency points.
  • the processor 1401 is further configured to:
  • the transmitter 1401 can further be used for:
  • the first preset frequency point is the frequency of the last supervised frame or the last supervised subframe that is sent.
  • the transmitter 1401 is further configured to:
  • the processor 1401 is further configured to:
  • the supervisory information is encrypted according to a preset encryption rule, and the preset encryption rule is an encryption rule known to the supervisory device of the drone;
  • the transmitter 1401 may be in a working channel of the communication network between the drone and the control terminal.
  • the supervised frame or the supervised subframe is sent in a preset time slice and/or a preset frequency. It can be seen that by using the SDR technology to implement software-defined flexibility to create a supervised frame or a supervised sub-frame, the unmanned can be overcome. Based on the versatility of the existing SDR technology for communication, and without increasing the hardware cost, the supervisory device can obtain the supervision of the drone by acquiring the supervision frame or the supervision subframe sent by the transmitter 1401. Information and implementation of supervision of drones.
  • the embodiment of the invention further provides a drone, wherein the drone includes:
  • the power system of the drone may include: a motor, an electric coil, a propeller, etc., wherein no one
  • the machine may also include a payload, such as an imaging device, an infrared imager, etc., wherein the payload may be coupled to the drone via a carrier, wherein the carrier may be a gimbal.
  • an embodiment of a supervisory device in an embodiment of the present invention includes:
  • the detector 1501 and the processor 1502 (wherein the number of the processors 1502 may be one or more, and one processor 1502 is taken as an example in FIG. 15).
  • the detector 1501 is configured to scan a working channel of a communication network between the drone and the control terminal, and acquire data sent from the drone;
  • the processor 1502 is configured to determine a supervision frame or a supervision subframe from the data, and obtain the supervision information of the drone from the supervision frame or the supervision subframe.
  • At least one reference field is included in the supervision subframe or in the supervision frame;
  • the processor 1502 is further configured to:
  • a regulatory frame or a supervisory subframe is determined from the data using at least one reference field.
  • the processor 1502 is further configured to:
  • the data fields in the supervision frame or the supervision subframe are synchronized according to the reference field, and the supervision information is demodulated from the data field.
  • the detector 1501 is further configured to:
  • the number of the detectors 1501 is one, and one detector 1501 may further be used for:
  • a plurality of working channels of the communication network between the drone and the control terminal are scanned in turn.
  • the number of the detectors 1501 is multiple, and the processor 1502 may further be used to:
  • Each of the plurality of detectors 1501 may further be used for:
  • the monitoring device may further include a display 1503, which may be used to:
  • the processor 1502 is further configured to:
  • the processor 1502 is further configured to:
  • the supervision information is decrypted according to the preset decryption rule, and the decrypted supervision information is sent to the remote supervision platform.
  • the supervisory device uses the detector 1501 to scan the working channel of the communication network between the drone and the control terminal, and after obtaining the data transmitted from the drone, the processor 1502 may use the regulatory frame in the data or In the supervision sub-frame, the supervisory information of the drone is obtained.
  • the supervisory device does not need to use the processor 1502 to violently crack the data of the obtained drone, and is not limited to the use of different drones.
  • the versatile SDR technology is conducive to the regulation of drones.
  • the present invention may also relate to a supervisory system, including a drone, a control terminal that communicates with the drone, and a supervisory device that supervises the drone, and optionally, a remote monitoring platform that communicates with the supervisory device.
  • the control terminal can be used to send a control command to the drone, and the drone can control the flight according to the received control command, and the supervisory device can be used to acquire communication data between the drone and the control terminal to achieve Human-machine supervision, remote monitoring platform can be used to manage one or more regulatory devices and remotely supervise one or more drones.
  • the disclosed system, apparatus, and method may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in various embodiments of the present invention may be integrated in one processing unit. It is also possible that each unit physically exists alone, or two or more units may be integrated in one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
  • the integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium.
  • the technical solution of the present invention which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium.
  • a number of instructions are included to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like. .

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)

Abstract

L'invention concerne un procédé et un dispositif de commande de véhicule aérien sans pilote, un procédé et un dispositif de surveillance de véhicule aérien sans pilote, ainsi qu'un véhicule aérien sans pilote permettant d'effectuer une surveillance d'un véhicule aérien sans pilote. Le procédé de commande de véhicule aérien sans pilote consiste à : acquérir des informations de surveillance d'un véhicule aérien sans pilote, et configurer, au moyen d'un processeur, les informations de surveillance comme étant une trame de surveillance ou une sous-trame de surveillance ; et dans un canal de fonctionnement d'un réseau de communication entre le véhicule aérien sans pilote et un terminal de commande, utiliser un émetteur pour transmettre la trame de surveillance ou la sous-trame de surveillance sur un créneau temporel ayant une longueur prédéfinie et/ou à un point de fréquence prédéfini.
PCT/CN2017/077530 2017-03-21 2017-03-21 Procédé et dispositif de commande de véhicule aérien sans pilote, ainsi que procédé et dispositif de surveillance de véhicule aérien sans pilote Ceased WO2018170736A1 (fr)

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CN201780005609.XA CN108684204B (zh) 2017-03-21 2017-03-21 无人机控制方法及控制设备、无人机监管方法及监管设备
PCT/CN2017/077530 WO2018170736A1 (fr) 2017-03-21 2017-03-21 Procédé et dispositif de commande de véhicule aérien sans pilote, ainsi que procédé et dispositif de surveillance de véhicule aérien sans pilote

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