CN108233985A - A kind of unmanned plane management method, terminal device and storage medium - Google Patents
A kind of unmanned plane management method, terminal device and storage medium Download PDFInfo
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- CN108233985A CN108233985A CN201711454845.8A CN201711454845A CN108233985A CN 108233985 A CN108233985 A CN 108233985A CN 201711454845 A CN201711454845 A CN 201711454845A CN 108233985 A CN108233985 A CN 108233985A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/69—Spread spectrum techniques
- H04B1/713—Spread spectrum techniques using frequency hopping
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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Abstract
The present invention relates to a kind of unmanned plane management method, terminal device and storage mediums, in the method, include the following steps：S100：Typing has authorized remote controler and unmanned plane to the frequency hop sequences after frequency；S200：Under fixed RF frequency range, the radiofrequency signal in a frequency hop sequences period in fixed area is recorded by spectrum monitoring equipment, by the radiofrequency signal group for the determining remote controler that excludes the interference signal, the frequency hop sequences of each remote controler are calculated in radiofrequency signal group；S300：The frequency hop sequences of each remote controler calculated with the frequency hop sequences for having authorized remote controler of typing are compared successively, search out the frequency hop sequences of unauthorized remote controler.The present invention is by the analysis of unmanned controller radiofrequency signal, extraction, judgement and interference, realizing the accurate management to unmanned plane.
Description
Technical field
The present invention relates to network communication field, specifically a kind of unmanned plane management method, terminal device and storage medium.
Background technology
Unmanned plane (Unmanned Aerial Vehicle, UAV) is also referred to as unmanned aircraft or remote driving aircraft,
It is a kind of controlled by radio robot or the non-manned vehicle by being preprogramed manipulation.Unmanned plane has maneuverability
The characteristics of, it is small, light-weight, can transport and carry at any time.Its requirement to landing is low, flies drop at any time.Unmanned plane is general
Low latitude smooth flight below clouds, compensates for satellite optical remote sensing and general aviation photography is often obtained by cloud cover less than image
The defects of.Other than with wide military application prospect, substitute someone's aircraft execution high risk task with unmanned plane and work as
In terms of one important development of modern world space industry.Particularly unmanned plane is made in large quantities in international local war in recent years
With, it is anticipated that unmanned plane purposes will be increasing on future battlefield, has become the weight of countries in the world Weapon Development
Point.Meanwhile unmanned plane is as a kind of airborne aircraft with high content of technology, performance is good, development prospect is wide, in civilian neck
Domain can also complete the Disaster Assessment prevented and reduced natural disasters, geological exploration is taken photo by plane, the inspection of police highway, forest fire protection, maritime affairs patrol,
The field performance of large size dew such as is taken photo by plane at the multiple-tasks.
With the rapid proliferation of consumer level unmanned plane in recent years, unmanned plane industry is rapidly developed.Small drone
Flight operation is changed into " foolproof " control of mobile phone one-key from specialized study and training is had to pass through.However, it thus brings
Public safety hidden danger also become increasingly conspicuous.There are blind areas for supervision of the China to unmanned plane, and a large amount of use of unmanned plane is even more to public affairs
Safety belt carrys out hidden danger altogether.Originally it was that the unmanned plane used for legitimate purposes is more and more used for criminal intent, how supervised
Unmanned plane becomes more and more important.
The basis of the unmanned plane administrative skill of mainstream is detection and discovery at present, specifically there is following several ways：
1. active and passive type radar
Consumer level unmanned plane volume is small at present, and most of is plastic material, and metal material is considerably less.Most of situation
Under, reflective surface area is too small for normal radar.And for current mainstream technology, various commerical radar technologies are difficult in work(
Consumption, volume, the detection that such " low, small, slow " is matched in cost.
2. image detection
Mainly with high-definition camera, judged by the shape to unmanned plane, so as to be identified.Just as to nobody
Machine carries out " recognition of face ".The method needs the unmanned plane picture of magnanimity to carry out algorithm study, picture deposit and algorithm tune ginseng work
Work amount is huge.The adverse circumstances in city, the natural environments such as cloud, mist, haze, rain, strong sunlight seriously affect the work of camera.
3. Sound Match
It is matched mainly by the sound characteristic of the electro-motor of unmanned plane.Although current sound feature technology compares into
It is ripe, but urban environment is complicated, the noise of various interference can seriously affect the extraction and analysis of voice signal.Seriously constrain inspection
The sensitivity of survey and precision.
4. remote-control radio electrical signal detection
Have benefited from radio communication technology rapid development in recent years, we can receive and parse spy in larger distance
Fixed radio signal.
It is 5. other
Other non-mainstream detection modes such as similar infrared ray for the detection of " low, small, slow ", are substantially at laboratory opinion
Card and predevelopment phase.
At present, to consumer level unmanned plane without particularly preferred way to manage, the mode of mainstream has following several industry：
1. unmanned plane catcher
Operator can emit catching net or emit from the unmanned plane of other flights and catch as fishing net bird from ground
Net is caught, so as to capture unmanned plane.
2. Animal-trapping device
By the special training to birds, it is allowed to capture or destroy the flight attitude of unmanned plane.
3.GPS signals are cheated
Unmanned plane can be interfered, by simulating the positioning satellite signals such as GPS, the Big Dipper so as to force unmanned plane landing, Wu Faqi
Fly or fly by given line.In fact, the interference such as GPS, Big Dipper, threshold is high, and interference effect also tends to undesirable.
4. control signal interference device
At present generally by the way of, cardinal principle is by being generated and transmitted by wide-band interference signal (such as white noise
Deng), such as GPS L1/L2 frequency ranges, 2.4G frequency ranges are carried out to unmanned plane, even 5.8G frequency ranges are carried out at the same time interference.Block nobody
The signal transmission of machine flight control system achievees the effect that it is allowed automatically to land or far from management region.
It is 5. other
Such as high energy laser beam, due to cost and safety issue, it is difficult to be promoted in commercial market.
The unmanned plane management equipment of mainstream is simple interference unit currently on the market, and operation principle is, against visual model
Unmanned plane transmitting interference signal in enclosing, signal is high-power full frequency band.Their general character is that power is big, volume is big, again
Amount is big, can pocket is poor, the rate of precision of interference is low, electromagnetic interference is big, electromagnetic interference range is wide, unmanned plane can not be carried out accurately
Name menu manager.In the range of unmanned plane can not accurately distinguish.Normal Wi-Fi or other wireless networks are even influenced during interference
Network communicates.
Invention content
To solve the above-mentioned problems, the present invention is intended to provide a kind of unmanned plane management method, terminal device and storage medium,
By to the analysis of unmanned controller radiofrequency signal, extraction, judgement and interference, realizing the accurate management to unmanned plane.
Concrete scheme is as follows：
A kind of unmanned plane management method, includes the following steps：
S100：Typing has authorized remote controler and unmanned plane to the frequency hop sequences after frequency；
S200：Under fixed RF frequency range, a frequency hop sequences week in fixed area is recorded by spectrum monitoring equipment
Radiofrequency signal in phase by the radiofrequency signal group for the determining remote controler that excludes the interference signal, calculates every in radiofrequency signal group
The frequency hop sequences of a remote controler；
S300：By the frequency hop sequences of each remote controler calculated successively with the frequency hopping sequence for having authorized remote controler of typing
Row are compared, to search out the frequency hop sequences of unauthorized remote controler after exclusion.
Further, it further includes：
S400：By unmanned plane management terminal device emit interference radiofrequency signal, make unauthorized unmanned plane can not receive and
The control instruction of remote controler is demodulated, to suppress it；The interference radiofrequency signal is the frequency hop sequences phase with unauthorized remote controler
Same radiofrequency signal.
Further, the frequency hop sequences that each remote controler in radiofrequency signal group is calculated described in step S200 include establishing
The waveform feature data library of remote controler, the wave character of typing all types remote controler, according to wave character by radiofrequency signal group
The waveform signal group of Preliminary division several types remote controler calculates the frequency hopping of each remote controler in each waveform signal group
Sequence.
Further, the frequency hop sequences for calculating each remote controler specifically include following steps：
S201：Parameter setting：The complete frequency hop sequences intermediate-frequeney point number of setting remote controller one be m, set hop period as
A sets N=0, b=1, sets signal strength p most strong in radiofrequency signal groupmax, most weak signal strength is pmin, set p=
pmax, setting Δ p=(pmax-pmin)/x, wherein x are the integer more than 1；
S202：Setting signal intensity threshold is p=p-N × Δ p, judges frequency of the signal strength more than p in radiofrequency signal group
Whether point number is less than m, when not less than when, into S204, when less than when, into S203；
S203：N=N+1 is set, returns to S202；
S204：The radiofrequency signal that signal strength is more than signal strength threshold is filtered out in radiofrequency signal group, extracts its frequency
Point and time are frequency hopping frequency point and Hopping time, by Hopping time according to being arranged in order from small to large, are denoted as respectively：T1、T2、
T3 ... Tn, then T1<T2<T3<……<Tn, corresponding frequency hopping frequency point are denoted as S1, S2, S3 respectively ... Sn；
S205：Calculate respectively n Hopping time and one of Hopping time difference whether the integer for being hop period A
Times, result of calculation uses R respectively1-b、R2-b、R3-b、R4-b、……、Rn-bIt represents, calculation formula is as follows：
R1-b=(T1-Tb)/A
R2-b=(T2-Tb)/A
R3-b=(T3-Tb)/A
R4-b=(T4-Tb)/A
……
Rn-b=(Tn-Tb)/A
S206：Result of calculation R is judged respectively1-bR2-b、R3-b、R4-b、……、Rn-bWhether it is integer, and record integer
Number Kb, judge KbWhether m is equal to, if equal to, set K of the above-mentioned result of calculation as integerbFrequency corresponding to a Hopping time
Point forms the frequency hop sequences of b-th of remote controler, sets radiofrequency signal group as except above-mentioned KbWhat the frequency point other than a frequency point formed penetrates
Frequency signal group, into S207, if it is not, setting b=b+1, returns to S205；
S207：Whether judgement radiofrequency signal group is empty, if it is sky, is terminated, if being not sky, sets N=N+1, returns
S202。
Further, interference signal described in step S200 includes at least Wi-Fi routers signal and noise signal.
Further, the correctness of information exchange file and integrity validation method are in the step S50 or S700：
A kind of unmanned plane management terminal device including memory, processor and is stored in the memory and can be
The computer program run on the processor, the processor realize unmanned plane pipe of the present invention when performing the computer program
The step of reason method.
A kind of computer readable storage medium, the computer-readable recording medium storage have computer program, the meter
The step of unmanned plane management method of the present invention is realized when calculation machine program is executed by processor.
The present invention is had the advantages that using as above technical solution：
1. the transmission range of remote controler radiofrequency signal about more than 1km is, it can be achieved that management outside visual range.
2. can accurately manage, in the same area, unauthorized unmanned plane is only allowed to lose the ability of flight.
3. the spectrum signature of pair unmanned controller radiofrequency signal has recognition capability, parsed without transport protocol.
Description of the drawings
Fig. 1 show the step schematic diagram of the embodiment of the present invention one.
Fig. 2 show the step schematic diagram of specific algorithm in the embodiment of the present invention one.
Specific embodiment
To further illustrate each embodiment, the present invention is provided with attached drawing.These attached drawings are that the invention discloses one of content
Point, mainly to illustrate embodiment, and the associated description of specification can be coordinated to explain the operation principles of embodiment.Cooperation ginseng
These contents are examined, those of ordinary skill in the art will be understood that other possible embodiments and advantages of the present invention.In figure
Component be not necessarily to scale, and similar element numbers are conventionally used to indicate similar component.
In conjunction with the drawings and specific embodiments, the present invention is further described.
Embodiment one：
The embodiment of the present invention one provides a kind of unmanned plane management method, as shown in Figure 1, it is one institute of the embodiment of the present invention
The flow diagram of unmanned plane management method stated, the method may include following steps：
S100：Typing has authorized remote controler and unmanned plane to the frequency hop sequences after frequency.
It is described to referring to that the receiver in remote controler and unmanned plane is carried out to frequency frequently, both make in same frequency.
The radiofrequency signal of remote controler is beated between different frequency points, exactly because the characteristic of this frequency hopping, can make
It flies simultaneously without interfering with each other there are multiple UAVs in the same area.Some frequency point at a time only exists one and sets
Standby control signal improves the utilization rate of channel.
After unmanned controller and receiver are to frequency, frequency hop sequences will not change and change again with switching on and shutting down, receive
Data are sent out with regard to being carried out, and hop period is fixed, about 7ms according to the frequency hop sequences after frequency.
The remote controler and unmanned plane of same unmanned plane can cause frequency hop sequences to change frequency again, therefore again to being answered after frequency
The frequency hop sequences of typing before are updated to again to the frequency hop sequences after frequency.
S200：Under fixed RF frequency range, a frequency hop sequences week in fixed area is recorded by spectrum monitoring equipment
Radiofrequency signal in phase by the radiofrequency signal group for the determining remote controler that excludes the interference signal, calculates every in radiofrequency signal group
The frequency hop sequences of a remote controler.
Time of the frequency hop sequences period for a complete frequency hop sequences, due in the frequency hop sequences of each unmanned plane
Comprising frequency points all same, therefore record the radiofrequency signal in a complete frequency hop sequences period including in the recording region
The radiofrequency signal of one frequency hop sequences of all unmanned planes, one frequency hop sequences of remote controler include 16 frequency hoppings frequencies in the embodiment
Point, the hop period of each frequency modulation frequency point is A, then the frequency hop sequences period is 16A.
In the embodiment, the fixed RF frequency range includes two radio frequency bands of 2.4G and 5.8G.
The interference signal includes at least Wi-Fi routers signal and noise signal.
In the embodiment, the frequency hop sequences for calculating each remote controler in radiofrequency signal group include establishing remote controler
Waveform feature data library, the wave character of typing all types remote controler, according to wave character by radiofrequency signal group Preliminary division
The waveform signal group of several types remote controler calculates the frequency hop sequences of each remote controler in each waveform signal group.
The wave character of each type remote controler is unique, therefore the wave character can be as the type remote controler
Identity.
The wave character includes the time domain of the waveform and the information of frequency domain.
The extraction process includes the modulator approach of the signal is identified and demodulation carries out wave character comparison,
The modulator approach includes but not limited to FSK, GFSK, OFDM-MIMO.
In the embodiment, the principle of the calculating is：The difference in signal strength opposite sex of different remote is much larger than same distant
The difference in signal strength opposite sex for controlling device different frequent points is identical with the hop period of all remote controlers.
As shown in Fig. 2, the calculating process specifically includes following steps：
S201：Parameter setting：The complete frequency hop sequences intermediate-frequeney point number of setting remote controller one be m, set hop period as
A sets N=0, b=1, sets signal strength p most strong in radiofrequency signal groupmax, most weak signal strength is pmin, set p=
pmax, setting Δ p=(pmax-pmin)/x, wherein x are the integer more than 1.
S202：Setting signal intensity threshold is p=p-N × Δ p, judges frequency of the signal strength more than p in radiofrequency signal group L
Whether point number is less than m, when not less than when, into S204, when less than when, into S203.
S203：N=N+1 is set, returns to S202.
S204：The radiofrequency signal that signal strength is more than signal strength threshold is filtered out in radiofrequency signal group L, extracts its frequency
Point and time are frequency hopping frequency point and Hopping time, by Hopping time according to being arranged in order from small to large, are denoted as respectively：T1、T2、
T3 ... Tn, then T1<T2<T3<……<Tn, the corresponding frequency hopping frequency point are denoted as S1, S2, S3 respectively ... Sn.
S205：Calculate respectively n Hopping time and one of Hopping time difference whether the integer for being hop period A
Times, result of calculation uses R respectively1-bR2-b、R3-b、R4-b、……、Rn-bIt represents, calculation formula is as follows：
R1-b=(T1-Tb)/A
R2-b=(T2-Tb)/A
R3-b=(T3-Tb)/A
R4-b=(T4-Tb)/A
……
Rn-b=(Tn-Tb)/A
S206：Result of calculation R is judged respectively1-b、R2-b、R3-b、R4-b、……、Rn-bWhether it is integer, and record integer
Number Kb, judge KbWhether m is equal to, if equal to, set K of the above-mentioned result of calculation as integerbCorresponding to a Hopping time
Frequency point forms the frequency hop sequences of b-th of remote controler, sets radiofrequency signal group as except above-mentioned KbWhat the frequency point other than a frequency point formed
Radiofrequency signal group, into S207, if it is not, setting b=b+1, returns to S205.
S207：Whether judgement radiofrequency signal group is empty, if it is sky, is terminated, if being not sky, sets N=N+1, returns
S202。
S300：By the frequency hop sequences of each remote controler calculated successively with the frequency hopping sequence for having authorized remote controler of typing
Row are compared, to search out the frequency hop sequences of unauthorized remote controler after exclusion.
S400：By unmanned plane management terminal device emit interference radiofrequency signal, make unauthorized unmanned plane can not receive and
The control instruction of remote controler is demodulated, to suppress it, achievees the purpose that it is made automatically to land.
Interference radiofrequency signal is emitted to pass through the radio frequency in it by unmanned plane management terminal device described in the embodiment
Module transmitting interference radiofrequency signal, the radio-frequency module include at least two general frequency ranges of 2.4G and 5.8G, compatible GPS, north
The related frequency range of the positioning devices such as bucket has wider bandwidth of operation, supports multi-input multi-output system (Multiple-Input
Multiple-Output, MIMO) function, transmitting-receiving can be carried out at the same time, can frequency point be switched fast with the speed of Millisecond.
The interference radiofrequency signal is the radiofrequency signal identical with the frequency hop sequences of unauthorized remote controler.
The frequency hop sequences of known unauthorized remote controler, by sending out interference radio frequency on the correspondence frequency point of the frequency hop sequences
Signal can realize precisely discovery, the purpose for judging and managing unmanned plane.
The embodiment of the present invention one provides a kind of unmanned plane management method, by dividing unmanned controller radiofrequency signal
Analysis, extraction judge and interfere, and can solve typical high power, the compacting of full bandwidth signal to unmanned plane normal flight is authorized to influence
Technological difficulties, it can be achieved that the accurate management of unmanned plane, be the development trend of WeiLai Technology.Using the embodiment method nobody
Machine management equipment, because system principle and circuit are fairly simple, it can be achieved that the lightweight and miniaturization of unmanned plane management equipment.
Embodiment two：
The present invention also provides a kind of unmanned plane management terminal devices, including memory, processor and are stored in described deposit
In reservoir and the computer program that can run on the processor, the processor realize this when performing the computer program
Step in the above method embodiment of inventive embodiments one.
Further, as an executable scheme, the unmanned plane management terminal device can be desktop PC,
The computing devices such as notebook, palm PC and cloud server.The unmanned plane management terminal device may include, but not only limit
In processor, memory.It will be understood by those skilled in the art that the composition structure of above-mentioned unmanned plane management terminal device is only
It is the example of unmanned plane management terminal device, does not form the restriction to unmanned plane management terminal device, can includes than above-mentioned
More or fewer components either combine certain components or different components.
Unmanned plane management terminal device described in the embodiment further includes input module, power module, display module, radio frequency
Module, higher-sensitivity antenna, spectrum monitoring equipment and user interactive module
The power module provides power supply control and the management work of system work, and each module of output system needs various
Voltage；The input module is used to implement the input function of data；The display module is used for the state of displaying data in real-time, should
It is LCD display in embodiment；The radio-frequency module includes at least two general frequency ranges of 2.4G and 5.8G, compatible GPS, the Big Dipper
Etc. positioning devices related frequency range, there is wider bandwidth of operation, support multi-input multi-output system (Multiple-Input
Multiple-Output, MIMO) function, transmitting-receiving can be carried out at the same time, can frequency point be switched fast with the speed of Millisecond；The height
Sensitivity antenna is used to send and receive radiofrequency signal；The user interactive module carries out bottom for user and each module
Interaction, user can change the bottom parameter of each module in the user interactive module.
Further, as an executable scheme, alleged processor can be central processing unit (Central
Processing Unit, CPU), it can also be other general processors, digital signal processor (Digital Signal
Processor, DSP), it is application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), existing
Into programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete
Door or transistor logic, discrete hardware components etc..General processor can be that microprocessor or the processor also may be used
To be any conventional processor etc., the processor is the control centre of the unmanned plane management terminal device, and utilization is various
The various pieces of interface and the entire unmanned plane management terminal device of connection.
The memory can be used for storing the computer program and/or module, and the processor is by running or performing
The computer program and/or module that are stored in the memory and the data being stored in memory are called, described in realization
The various functions of unmanned plane management terminal device.The memory can mainly include storing program area and storage data field, wherein,
Storing program area can storage program area, the application program needed at least one function；Storage data field can be stored according to mobile phone
Use created data etc..In addition, memory can include high-speed random access memory, can also include non-volatile
Memory, such as hard disk, memory, plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital
(Secure Digital, SD) block, flash card (Flash Card), at least one disk memory, flush memory device or other
Volatile solid-state part.
The present invention also provides a kind of computer readable storage medium, the computer-readable recording medium storage has computer
Program, when the computer program is executed by processor the step of the realization above method of the embodiment of the present invention.
If module/unit that the unmanned plane management terminal device integrates is realized and is made in the form of SFU software functional unit
It is independent product sale or in use, can be stored in a computer read/write memory medium.Based on such understanding,
The present invention realizes all or part of flow in above-described embodiment method, can also be instructed by computer program relevant hard
Part is completed, and the computer program can be stored in a computer readable storage medium, which is being handled
When device performs, it can be achieved that the step of above-mentioned each embodiment of the method.Wherein, the computer program includes computer program generation
Code, the computer program code can be source code form, object identification code form, executable file or certain intermediate forms
Deng.The computer-readable medium can include：Any entity of the computer program code or device, record can be carried
Medium, USB flash disk, mobile hard disk, magnetic disc, CD, computer storage, read-only memory (ROM, Read-Only Memory), with
Machine access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..
It should be noted that the content that the computer-readable medium includes can be according to legislation in jurisdiction and patent practice
It is required that carry out appropriate increase and decrease, such as in certain jurisdictions, do not wrapped according to legislation and patent practice, computer-readable medium
Include electric carrier signal and telecommunication signal.
Although specifically showing and describing the present invention with reference to preferred embodiment, those skilled in the art should be bright
In vain, it is not departing from the spirit and scope of the present invention that the appended claims are limited, it in the form and details can be right
The present invention makes a variety of changes, and is protection scope of the present invention.
Claims (7)
1. a kind of unmanned plane management method, which is characterized in that include the following steps：
S100：Typing has authorized remote controler and unmanned plane to the frequency hop sequences after frequency；
S200：Under fixed RF frequency range, recorded by spectrum monitoring equipment in a frequency hop sequences period in fixed area
Radiofrequency signal, by the radiofrequency signal group for the determining remote controler that excludes the interference signal, calculated in radiofrequency signal group each distant
Control the frequency hop sequences of device；
S300：By the frequency hop sequences of each remote controler calculated successively with typing authorized the frequency hop sequences of remote controler into
Row comparison, to search out the frequency hop sequences of unauthorized remote controler after exclusion.
2. unmanned plane management method according to claim 1, which is characterized in that further include：
S400：Interference radiofrequency signal is emitted by unmanned plane management terminal device, makes unauthorized unmanned plane that can not receive and demodulate
The control instruction of remote controler, to suppress it；The interference radiofrequency signal is identical with the frequency hop sequences of unauthorized remote controler
Radiofrequency signal.
3. unmanned plane management method according to claim 1, it is characterised in that：Radio frequency letter is calculated described in step S200
The frequency hop sequences of each remote controler include establishing the waveform feature data library of remote controler in number group, typing all types remote controler
Wave character, according to wave character by the waveform signal group of radiofrequency signal group Preliminary division several types remote controler, each
The frequency hop sequences of each remote controler are calculated in waveform signal group.
4. the unmanned plane management method according to claim 1 or 3, it is characterised in that：It is described to calculate each remote controler
Frequency hop sequences specifically include following steps：
S201：Parameter setting：The complete frequency hop sequences intermediate-frequeney point number of setting remote controller one is m, sets hop period as A, if
Determine N=0, b=1, set signal strength p most strong in radiofrequency signal groupmax, most weak signal strength is pmin, set p=pmax,
Set Δ p=(pmax-pmin)/x, wherein x are the integer more than 1；
S202：Setting signal intensity threshold is p=p-N × Δ p, judges the signal strength frequency point more than p in radiofrequency signal group
Whether number is less than m, when not less than when, into S204, when less than when, into S203；
S203：N=N+1 is set, returns to S202；
S204：Filtered out in radiofrequency signal group signal strength be more than signal strength threshold radiofrequency signal, extract its frequency point and
Time is frequency hopping frequency point and Hopping time, by Hopping time according to being arranged in order from small to large, is denoted as respectively：T1、T2、
T3 ... Tn, then T1<T2<T3<……<Tn, corresponding frequency hopping frequency point are denoted as S1, S2, S3 respectively ... Sn；
S205：Calculate respectively n Hopping time and one of Hopping time difference whether the integral multiple for being hop period A,
Result of calculation uses R respectively1-bR2-b、R3-b、R4-b、……、Rn-bIt represents, calculation formula is as follows：
R1-b=(T1-Tb)/A
R2-b=(T2-Tb)/A
R3-b=(T3-Tb)/A
R4-b=(T4-Tb)/A
……
Rn-b=(Tn-Tb)/A
S206：Result of calculation R is judged respectively1-b、R2-b、R3-b、R4-b、……、Rn-bWhether it is integer, and records of integer
Number Kb, judge KbWhether m is equal to, if equal to, set K of the above-mentioned result of calculation as integerbFrequency point corresponding to a Hopping time
The frequency hop sequences of b-th of remote controler are formed, set radiofrequency signal group as except above-mentioned KbThe radio frequency of frequency point composition other than a frequency point
Signal group, into S207, if it is not, setting b=b+1, returns to S205；
S207：Whether judgement radiofrequency signal group is empty, if it is sky, is terminated, if being not sky, sets N=N+1, returns to S202.
5. unmanned plane management method according to claim 1, it is characterised in that：Interference signal includes described in step S200
Wi-Fi routers signal and noise signal.
6. a kind of unmanned plane management terminal device, including memory, processor and it is stored in the memory and can be in institute
State the computer program run on processor, which is characterized in that the processor is realized when performing the computer program as weighed
Profit requires the step of 1~5 the method.
7. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In realization is such as the step of Claims 1 to 5 the method when the computer program is executed by processor.
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