CN108445909A - A kind of unmanned aerial vehicle control system - Google Patents
A kind of unmanned aerial vehicle control system Download PDFInfo
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- CN108445909A CN108445909A CN201810485476.7A CN201810485476A CN108445909A CN 108445909 A CN108445909 A CN 108445909A CN 201810485476 A CN201810485476 A CN 201810485476A CN 108445909 A CN108445909 A CN 108445909A
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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
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Abstract
A kind of unmanned aerial vehicle control system, the system comprises a ground control terminal and multiple unmanned aerial vehicle onboard ends, ground control terminal sends broadcast message to each unmanned aerial vehicle onboard end, and is authenticated and communicates with each unmanned aerial vehicle onboard end；The inorganic people receives the broadcast message of ground control terminal, and the network configuration and channel of oneself are changed according to the broadcast message of reception, and the order also according to ground control terminal executes task.System and method provided by the invention can control of the practical ground control terminal to multiple unmanned aerial vehicle onboard ends, save resource, and being capable of strong antijamming capability.
Description
Technical field
The present invention relates to a kind of unmanned aerial vehicle control systems, belong to flying vehicles control technical field.
Background technology
With China's economy, the lasting propulsion of the rapid development of society and airspace management reform, low altitude airspace is gradually opened
It puts, unmanned aerial vehicle onboard end will obtain development energetically and more be widely applied, for example, can apply unmanned aerial vehicle onboard end
To fields such as electric power, communication, meteorology, agricultural, ocean, exploration, insurances, it specifically such as can be used for earth observation, forest fire protection
With fire extinguishing, disaster detection, communication relay, maritime surveillance, oil-gas pipeline inspection, pesticide spraying, land resources survey, wild animal
Monitoring, flood-control and drought relief monitoring, the locating fish, video display are taken photo by plane, drug law enforcement is seized smugglers or smuggled goods, border patrol, public security anti-terrorism etc..
But the unmanned aerial vehicle control system provided in the prior art, be essentially all ground control terminal control a frame without
Man-machine airborne end, to instruct to execute aerial mission along unmanned aerial vehicle onboard end.
Invention content
To overcome the technical problems existing in the prior art, goal of the invention of the invention to be to provide a kind of unmanned aerial vehicle onboard end
Control system and control method control multiple unmanned aerial vehicle onboard ends using a ground control terminal, save resource, and avoid
Malicious signal to them carries out interference control
To realize that the goal of the invention, the present invention provide a kind of unmanned aerial vehicle control system, the system comprises a ground
Control terminal and multiple unmanned aerial vehicle onboard ends, which is characterized in that ground control terminal sends broadcast message to each unmanned aerial vehicle onboard end,
And it is authenticated and communicates with each unmanned aerial vehicle onboard end；The information broadcasted include logical network identifier, channel information and
Network configuration information, network configuration information include being suitable for establishing a shifting between ground control terminal and multiple unmanned aerial vehicle onboard ends
The dynamic information from group wireless network；The processor of unmanned aerial vehicle onboard end wireless device calls the storage program of its memory simultaneously
Execute following process：The broadcast message of ground control terminal, and the network identifier that itself is stored are received by wireless adapter
It is compared with the network identifier of reception, if unanimously, controlled according to the received network configuration information and the ground
Mobile group wireless network certainly is established at end processed, and changes the channel of oneself, if it is inconsistent, keeping original network configuration and making
With original channel.
Preferably, the logical network identifier determines that the Inorganic device at unmanned aerial vehicle onboard end belongs to ground control terminal control
Control object, to be managed to unmanned aerial vehicle onboard end.
Preferably, the broadcast communication of the ground control terminal is only limited to the unmanned aerial vehicle onboard end load nothing of ground control terminal control
Line equipment.
Preferably, ground control terminal obtains idle channel in real time by frequency spectrum perception.
Preferably, ground control terminal repeats to send broadcast message on idle channel, and awaits a response；Unmanned aerial vehicle onboard end
It carries wireless device and constantly scans idle channel, and when receiving the idle channel transmitted by ground control terminal in ground control terminal
It sends and sends back-signalling on the channel of broadcast message.
Preferably, if ground control terminal receives the back-signalling transmitted by the wireless device of unmanned aerial vehicle onboard end,
It establishes and communicates to connect with unmanned aerial vehicle onboard end wireless device, ground control terminal and unmanned aerial vehicle onboard end wireless device are recognized into shaking hands
The card stage；If being not received by the back-signalling transmitted by the wireless device of unmanned aerial vehicle onboard end, frequency spectrum perception is re-started
Idle channel is obtained, and broadcast message is sent in idle channel.
Preferably, the current all idle channels of unmanned aerial vehicle onboard end wireless device traversal are to search for ground control terminal transmission
Broadcast message, if searching the broadcast message of ground control terminal transmission in a certain idle channel, emphasis scans the channel
And back-signalling is sent on this channel, and enter authentication phase；If not searching ground control terminal in the current channel
The broadcast message of transmission then traverses current all idle channels to search for the broadcast message of ground control terminal transmission again.
Compared with prior art, unmanned aerial vehicle onboard end control system provided by the invention and control method utilize a ground
Control terminal controls multiple unmanned aerial vehicle onboard ends, saves resource, and avoid malicious signal and carry out interference control to them.
Description of the drawings
Fig. 1 is the composition frame chart of unmanned aerial vehicle control system provided by the invention；
Fig. 2 is the composition frame chart of the composition frame chart of the wireless device at unmanned aerial vehicle onboard end provided by the invention.
Specific implementation mode
Technical scheme of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
The every other embodiment that personnel are obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " first ", " second " etc. are used for description purposes only, without
It can be interpreted as indicating or implying relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " connected " " connects
Connect " it shall be understood in a broad sense, for example, it may be being fixedly connected, it may be a detachable connection, or be integrally connected；It can be electricity
Connection, can also be to be connected directly, can also can also be the connection inside two elements indirectly connected through an intermediary,
For the ordinary skill in the art, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
Fig. 1 is the composition frame chart of unmanned aerial vehicle control system provided by the invention.In unmanned aerial vehicle control system, ground control terminal
And unmanned aerial vehicle onboard end carries wireless device and is all set to be communicated by ad-hoc wireless data connections.In addition, wireless
Equipment can establish wireless data connection using wireless adapter, and ground control terminal obtains wireless channel by frequency spectrum perception,
And it is authenticated with controlled unmanned aerial vehicle onboard end and sets up wireless connection.After certification passes through, ground control terminal is set with airborne wireless
It is standby by connectionless transmissions network configuration information, channel information and network identity, thus ground control terminal and unmanned aerial vehicle onboard end
Ad-hoc network linkings are established between load equipment.In the present invention, unmanned aerial vehicle onboard end carries wireless device, unmanned aerial vehicle onboard end node
With terminal meaning having the same.
Network configuration information may include physical network identifier, for example, physical network identifier is for identifying the ad-
Hoc network.Physical network identifier can also include broadcasting network identifier.Broadcasting network identifier may include ip multicast net
Network identifier is used to limit the range of message broadcast.Network configuration information can also include logical network identifier, for example,
Logical network identifier may include point-to-point group identifier, for identification the wireless device logical point pair to be added
Point group.Such as logical network identifier can be formulated according to the organizational system of army.Wireless connection can transmit any unmanned plane
Airborne end node enters the timestamp of network.
In Fig. 1, unmanned aerial vehicle control system includes a ground control terminal and multiple unmanned aerial vehicle onboard end nodes, ground control
End is different with task with the function that unmanned aerial vehicle onboard end node is served as, and each node is caused to play the part of different role in systems.
In one embodiment, ground control terminal takes care of all network configuration informations, including group configuration information.It controls on ground
The hand-held set and notebook that endpoint processed can be held with manager establish ad-hoc network connections by being wirelessly connected.Manager with
The information of ground control terminal exchange may include physical network identifier, broadcasting network identifier and logical network identifier.
Ground control terminal directly establishes ad-hoc networks by the independent discovery with each unmanned aerial vehicle onboard end node.Or
Person's ground control terminal can initially set up the connection with first unmanned aerial vehicle onboard end node.Then, first unmanned aerial vehicle onboard
End node can transmit network configuration information to second unmanned aerial vehicle onboard end node.Similarly, the second unmanned aerial vehicle onboard end segment
Point can transmit network configuration information by another connection and give third unmanned aerial vehicle onboard end node.Each unmanned aerial vehicle onboard end
Newest network topological information can be transmitted back to ground control terminal along connection, then ground control terminal similarly will be newest
Network topological information transmit back to manager hand-held set or computer.Moreover, the hand-held set or computer and ground of manager
Face control terminal can similarly push newest network topological information to each unmanned aerial vehicle onboard end.Alternatively, each unmanned plane machine
Newest network topological information can be obtained out from ground control terminal by carrying end.According to one embodiment, network topological information can be with
It is to automatically update and be distributed in physical network or each unmanned aerial vehicle onboard end node of group according to network configuration.
In one embodiment, network topological information may include a timestamp, correspond to each unmanned aerial vehicle onboard end
The time of the network is added in node.Therefore the chronological order of an addition network can be established.Topology and temporal information can pass
It passs whole network or is limited in each group.
In one embodiment, network configuration information may include broadcasting network identifier.For example, broadcasting network identifier
It can be an ip multicast identifier, be used to limit communication range in a network.
Fig. 2 is the composition frame chart of the composition frame chart for the wireless device that unmanned aerial vehicle onboard end provided by the invention carries, such as Fig. 2 institutes
Show, according to an embodiment of the present invention, wireless device is configured for unmanned aerial vehicle onboard end and is formed by wireless adapter
Point-to-point group.Wireless device may include processor 405, memory 401, wireless adapter 410, and memory 401 includes only
Read memory (ROM), random access memory (RAM).Processor 405 can be loaded into enabled instruction from ROM, then be read from RAM
Further instruction is taken, can be executed by processor 405 and completes one or more logic operations.Specifically, processor 405
It can configure to control the operation of wireless adapter, establish and linked with another wireless device, and control wireless adapter to make it
Ad-hoc network connections are established for the information communication between wireless device.RAM can be with storing initial network configuration data.One
In a embodiment, initial network configuration data can be the configuration data of acquiescence.Alternatively, network configuration data can be by user
Pass through the custom configuration data that user interface adapter provides.In addition, once receiving network topology and time stamp data, locate
Reason device can be such that these data are stored in RAM, send for future reference or further.Those of ordinary skill in the art can be with
It recognizes, the component of RAM and processor can be configured to execute various operations.
Wireless device further includes flying control device 406 and being watched according to what the order-driven unmanned aerial vehicle onboard end of winged control device 406 was flown
Take mechanism 407, wherein fly control device 406 and provide control signal to servo mechanism according to the instruction of processor 405, so that servo
Structure flies according to the instruction that preset path or upper level are sent, also by the flight of unmanned aerial vehicle onboard end when data transmission
To processor 405.Wireless device further includes photograph subsystem comprising camera 412 and camera controller 413, the photograph
Machine 412 is connected to camera controller 413, is used to take photo by plane to target area, and the image information taken photo by plane is sent to
Camera controller 413, camera controller 413 are connected to processor 405, are used to handle then the image information of input
Send processor 405 to.Wireless adapter generally includes the radio frequency unit of digital baseband unit, when transmitting, the digital baseband
The information that unit is used to be transmitted processor 405 carries out source coding and channel coding, then sends radio frequency unit to, described
Radio frequency unit includes transmitter, and the transmitter is used to that the information that digital baseband unit transmission comes to be encrypted and is modulated to
Power amplifier is then carried out in the carrier signal of grade instruction, space is emitted to finally by antenna；Radio frequency unit further includes receiver, is connect
It receives device to be used to antenna received signal carrying out demodulation decryption, then sends the data to digital baseband unit, digital baseband
Unit is used to digital baseband signal carrying out channel decoding, source coding, takes out data or refer to that ground control terminal is sent
It enables.
According to a first embodiment of the present invention, the control system at unmanned aerial vehicle onboard end further includes sensor module 402, sensor
Include examples of components altimeter, is used to obtain the elevation information on unmanned aerial vehicle onboard end and ground.Sensor module example
Further include property magnetic heading, pitot, gyroscope etc., the course for measuring unmanned aerial vehicle onboard end, speed etc..
The control system at unmanned aerial vehicle onboard end further includes navigator fix receiver 403, and it is fixed to receive navigation by antenna A1
The location information and temporal information about unmanned aerial vehicle onboard end of position satellite, and transfer data to processor 405.Navigator fix
Receiver 403 is, for example, GPS receiver, Big Dipper positioning time service receiver etc..According to one embodiment, wireless device further includes surveying
It away from device 409, is used to measure at a distance from unmanned aerial vehicle onboard end and target etc., the distance measuring equipment 409 is, for example, Laser Measuring
Distance meter.The control system at unmanned aerial vehicle onboard end further includes direction-finding device 417, is used to measure monitored target and unmanned aerial vehicle onboard
The direction at end.Processor determines the position and speed for being monitored target according to the data that range unit and direction-finding device are provided
Deng.
According to one embodiment of the invention, the present invention provides unmanned aerial vehicle onboard end and provides energy from energy source device to all parts
Source can be turned off by switch and connect control, and energy source device includes at least accumulator.
In the present invention, the course of work of ground control terminal includes：
S01：Default frequency range is divided into N number of subchannel by ground control terminal, and N number of subchannel is divided into n group subchannel groups { F0,
F1,F2,...,Fn-1, there are k sub-channels per group subchannel group, then N=n*k, wherein FiGroup subchannel group is expressed as
S02：Ground control terminal obtains idle sub-channels by frequency spectrum perception；
S03：Ground control terminal repeats to send broadcast message on every group of an idle channel, and awaits a response；Nobody
The airborne end of machine carries wireless device and constantly scans n group subchannel groups, and when receiving the broadcast message transmitted by ground control terminal
Back-signalling is sent on the channel that ground control terminal sends broadcast message.That is, the ground control terminal in broadcast state is to jump
The mode of frequency is sent out broadcast information signal, while listening for whether having return information.Continuous broadcast is up to time-out or receives
The return information of other-end.A random decision is done after time-out, inquiry state is transferred to a probability, kept with another probability
Broadcast state is constant.Whether the continuous frequency sweep of ground control terminal in inquiry state, detecting in channel has unmanned aerial vehicle onboard end
The information that wireless device is sent.
S04：If ground control terminal receives the back-signalling transmitted by the wireless device of unmanned aerial vehicle onboard end, with nothing
Man-machine airborne end wireless device establishes communication connection, and ground control terminal and unmanned aerial vehicle onboard end wireless device enter handshake authentication rank
Section；If being not received by the back-signalling transmitted by the wireless device of unmanned aerial vehicle onboard end, S02 is returned.
Ground control terminal sends broadcast message in idle channel with frequency-hopping mode, and the specific method that awaits a response includes as follows
Step：
S03-1：Ground control terminal chooses a sub-channels group Fm, wherein m ∈ { 0,1 ..., n-1 }, with groups of subchannels Fm
The traversal set of grouping is reformulated for starting point：M={ Fm,Fm+1,...,Fn-1,F0,...,Fm-1}；
S03-2：Ground control terminal is in channel group FmIt is middle that idle sub-channels whether there is according to frequency spectrum perception；
S03-3：If channel group FmIn available free subchannel, then ground control terminal length be TTXTime slot in,
An idle channel f in the channel groupz (m)Upper transmission broadcast message, wherein；z∈{0,1,...,k-1}；
S03-4：Ground control terminal is T in lengthRXTime slot in query response signal, wherein
S03-5：Judge whether that the back-signalling for receiving unmanned aerial vehicle onboard end wireless device enters and shakes hands if received
Stage；If do not received, enter S03-6；
S03-6 is walked：Judge whether to be repeated 2k times, if it is, into S03-7；If otherwise returning to S03-3.At this
It is bright, when ground control terminal is broadcasted, when sending broadcast message, in the number and a channel group that are repeated on the same idle channel
Subchannel number it is identical；
S03-7：Judge whether to have traversed all groups of subchannels；
S03-8：If it is, returning to S02, if not, returning to S03-1, next channel group is selected.
Then, on the basis of sequence M, ground control terminal frequency hop sequences will be shown below：
In above formula,It is FmIdle sub-channels in groups of subchannels,It is Fm+1Free time in groups of subchannels
Channel, fr (m-1)It is Fm-1Idle sub-channels in groups of subchannels, p ∈ { 0,1 ..., k-1 }, r ∈ { 0,1 ..., k-1 }.
According to an embodiment of the present invention, the course of work of unmanned aerial vehicle onboard end wireless device includes：
S04-1：Unmanned aerial vehicle onboard end wireless device chooses a sub-channels group Fl, wherein l ∈ { 0,1 ..., n-1 }, with
Groups of subchannels FlThe traversal set of grouping is reformulated for starting point：L={ Fl,Fl+1,...,Fn-1,F0,...,Fl-1}
S04-2：Unmanned aerial vehicle onboard end wireless device is with duration TbFor a frequency hop time slot, with T=kTbFor a cycle, time
All k sub-channels gone through in current sub-channel group are to search for the broadcast message of ground control terminal transmission；
S04-3：If searching the broadcast message of ground control terminal transmission in current sub-channel group, emphasis scanning should
Groups of subchannels simultaneously sends back-signalling in the subchannel that ground control terminal sends broadcast message, and enters authentication phase；If
The broadcast message of ground control terminal transmission is not searched in current sub-channel group, then enters S04-4；
S04-4：Judge whether to be repeated Ω times, if it is, into S04-5；If it is not, then returning to S04-2；
S04-5：Judge whether to go through all over all groups of subchannels, if it is, returning to S02；If otherwise returning to S03-
1。
Then, on the basis of sequence L, unmanned aerial vehicle onboard end wireless device frequency hop sequences will be shown below：
Or
Here, Ω is referred to as repeat factor, general value Ω ＜ k.
Unmanned aerial vehicle onboard end wireless device handshake authentication process includes following processing step：
6-1 is walked：Synchronous cognitive phase：When unmanned aerial vehicle onboard end, wireless device captures the signal that ground control terminal is sent out
Afterwards, change oneself state, into synchronous cognitive phase, in synchronous cognitive phase, unmanned aerial vehicle onboard end wireless device can be at this time
According to the subchannel position for the signal that it is captured, groups of subchannels where next time slot subchannel, therefore nobody are obtained
The airborne end wireless device of machine no longer blindness scans all subchannels, but the signal captured is utilized targetedly to scan
Corresponding groups of subchannels.After ground control terminal receives capture back-signalling, ground control terminal enters synchronous phase.
6-2 is walked：Synchronous phase：Ground control terminal sends synchronic command to unmanned aerial vehicle onboard end wireless device and guides nobody
The airborne end wireless device of machine enters synchronous phase, and unmanned aerial vehicle onboard end wireless device receives synchronizing transmitted by ground control terminal and refers to
After order, enter synchronous phase in given time, main unmanned aerial vehicle onboard end wireless device enters handshake phase.
6-3 is walked：Handshake phase：Ground control terminal interacts the channel letter respectively perceived with unmanned aerial vehicle onboard end wireless device
Breath selects subchannel, establishes metastable communication link according to corresponding subchannel selection strategy
6-3 is walked：It is authenticated, if certification passes through, earthward control terminal report has new node addition, if certification
Do not pass through, then earthward control terminal report has been possible to invasion wireless signal.
Method provided by the invention can be weaved into the program of computer application by various language, and be stored in as memory,
In Dropbox, cloud disk etc., processor can call the program to complete a series of function.Processor in the present invention may include counting
Word signal processor (DSP), microprocessor, programmable logic device (PLD), gate array or multiple processing components and power supply
Manage subsystem.Processor may also include internal cache memory, and the internal cache memory is configured to deposit
Store up the computer-readable instruction for execution obtained from memory or control card.The memory includes non-transient calculating
Machine medium, the medium is such as including SRAM, quick flashing, SDRAM and/or hard disk drive (HDD).Memory is configured to deposit
Computer-readable instruction is stored up to be executed by a processor.
Above in association with attached drawing, the operation principle of the present invention is described in detail.But those skilled in the art should
Understand, specification is only for interpreting the claims.But protection scope of the present invention is not limited to specification.It is any to be familiar with
In the technical scope that the present invention discloses, the variation or replacement that can be readily occurred in should all be contained those skilled in the art
Lid is within protection scope of the present invention.Therefore, the scope of protection of the invention shall be subject to the scope of protection specified in the patent claim.
Claims (7)
1. a kind of unmanned aerial vehicle control system, the system comprises a ground control terminal and multiple unmanned aerial vehicle onboard ends, features
Be, ground control terminal sends broadcast message to each unmanned aerial vehicle onboard end, and be authenticated with each unmanned aerial vehicle onboard end and
Communication；The information broadcasted includes logical network identifier, channel information and network configuration information, and network configuration information includes suitable
In establishing a movement between ground control terminal and multiple unmanned aerial vehicle onboard ends, oneself organizes the information of wireless network；The unmanned plane
The processor of airborne end wireless device calls the storage program of its memory and executes following process：It is received by wireless adapter
The broadcast message of ground control terminal, and the network identifier that itself is stored is compared with the network identifier of reception, if
Unanimously, then mobile group wireless network certainly is established according to the received network configuration information and the ground control terminal, and changed
The channel of oneself, if it is inconsistent, keeping original network configuration and using original channel.
2. unmanned aerial vehicle control system according to claim 1, which is characterized in that the logical network identifier determines nobody
The Inorganic device at the airborne end of machine belongs to the control object of ground control terminal control, to be managed to unmanned aerial vehicle onboard end.
3. according to any unmanned aerial vehicle onboard end control systems of claim 1-2, which is characterized in that the ground control terminal
Broadcast communication be only limited to ground control terminal control unmanned aerial vehicle onboard end carry wireless device.
4. according to any unmanned aerial vehicle onboard end control systems of claim 1-3, which is characterized in that ground control terminal passes through
Frequency spectrum perception obtains idle channel in real time.
5. according to any unmanned aerial vehicle onboard end control systems of claim 1-4, which is characterized in that ground control terminal is in sky
It repeats to send broadcast message on idle channel, and awaits a response；Unmanned aerial vehicle onboard end carries wireless device and constantly scans idle channel,
And it sends back and answers on the channel that ground control terminal sends broadcast message when receiving the idle channel transmitted by ground control terminal
Signal.
6. according to any unmanned aerial vehicle onboard end control systems of claim 1-5, which is characterized in that if ground control terminal
When receiving the back-signalling transmitted by the wireless device of unmanned aerial vehicle onboard end, then communicated with the foundation of unmanned aerial vehicle onboard end wireless device
Connection, ground control terminal and unmanned aerial vehicle onboard end wireless device enter the handshake authentication stage；If being not received by unmanned plane machine
The back-signalling transmitted by the wireless device of end is carried, then re-starts frequency spectrum perception and obtains idle channel, and sent in idle channel
Broadcast message.
7. according to any unmanned aerial vehicle onboard end control systems of claim 1-6, which is characterized in that unmanned aerial vehicle onboard end without
The current all idle channels of line equipment traversal are to search for the broadcast message of ground control terminal transmission, if in a certain idle channel
The broadcast message of ground control terminal transmission is searched, then emphasis scans the channel and sends back-signalling on this channel, goes forward side by side
Enter authentication phase；If not searching the broadcast message of ground control terminal transmission in the current channel, traversal is current again
All idle channels are to search for the broadcast message of ground control terminal transmission.
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| CN109165055A (en) * | 2018-08-30 | 2019-01-08 | 百度在线网络技术（北京）有限公司 | A kind of component loading method, device, computer equipment and storage medium |
| CN109257745A (en) * | 2018-09-14 | 2019-01-22 | 北京领云时代科技有限公司 | A kind of ad hoc network unmanned plane group system |
| CN110493249A (en) * | 2019-08-31 | 2019-11-22 | 天宇经纬（北京）科技有限公司 | Unmanned plane end load real-time control method and system based on multiple network switching |
| CN110636102A (en) * | 2019-07-13 | 2019-12-31 | 天宇经纬（北京）科技有限公司 | Unmanned aerial vehicle communication system and method based on 4G/5G wireless network |
| CN111316576A (en) * | 2019-02-28 | 2020-06-19 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle communication method and unmanned aerial vehicle |
| CN111757364A (en) * | 2019-09-20 | 2020-10-09 | 广州极飞科技有限公司 | Network switching method, communication system and related device |
| WO2021012102A1 (en) * | 2019-07-19 | 2021-01-28 | SZ DJI Technology Co., Ltd. | Control method |
| CN113766590A (en) * | 2020-06-05 | 2021-12-07 | 平头哥(上海)半导体技术有限公司 | Method and wireless device for application in wireless networking |
| CN114513523A (en) * | 2022-02-14 | 2022-05-17 | 上海富芮坤微电子有限公司 | Data synchronization method, device, equipment and storage medium |
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| CN109257745B (en) * | 2018-09-14 | 2021-11-19 | 天航星云国际防务技术研究院(北京)有限公司 | Ad hoc network unmanned aerial vehicle cluster system |
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| CN110493249A (en) * | 2019-08-31 | 2019-11-22 | 天宇经纬（北京）科技有限公司 | Unmanned plane end load real-time control method and system based on multiple network switching |
| CN110493249B (en) * | 2019-08-31 | 2022-02-15 | 天宇经纬（北京）科技有限公司 | Unmanned aerial vehicle terminal load real-time control method and system based on various network switching |
| CN111757364A (en) * | 2019-09-20 | 2020-10-09 | 广州极飞科技有限公司 | Network switching method, communication system and related device |
| CN111757364B (en) * | 2019-09-20 | 2023-10-10 | 广州极飞科技股份有限公司 | Network switching method, communication system and related device |
| CN113766590A (en) * | 2020-06-05 | 2021-12-07 | 平头哥(上海)半导体技术有限公司 | Method and wireless device for application in wireless networking |
| CN113766590B (en) * | 2020-06-05 | 2024-04-19 | 杭州中天微***有限公司 | Method and wireless device for application in wireless networking |
| CN114513523A (en) * | 2022-02-14 | 2022-05-17 | 上海富芮坤微电子有限公司 | Data synchronization method, device, equipment and storage medium |
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