CN108684204A - Unmanned aerial vehicle (UAV) control method and control device, unmanned plane monitoring and managing method and monitoring equipment - Google Patents
Unmanned aerial vehicle (UAV) control method and control device, unmanned plane monitoring and managing method and monitoring equipment Download PDFInfo
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- CN108684204A CN108684204A CN201780005609.XA CN201780005609A CN108684204A CN 108684204 A CN108684204 A CN 108684204A CN 201780005609 A CN201780005609 A CN 201780005609A CN 108684204 A CN108684204 A CN 108684204A
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- 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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- 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
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Abstract
A kind of unmanned aerial vehicle (UAV) control method and control device, unmanned plane monitoring and managing method and monitoring equipment, unmanned plane, for realizing the supervision to unmanned plane.The unmanned aerial vehicle (UAV) control method includes：The supervision information for obtaining unmanned plane will supervise information configuration into supervisory frame or supervision subframe using processor；In the working channel of communication network between unmanned plane and control terminal, supervisory frame or supervision subframe are sent in the timeslice of preset length and/or on default frequency point using transmitter.
Description
Technical field
The invention relates to unmanned plane field more particularly to a kind of unmanned aerial vehicle (UAV) control method and control device, nobody
Machine monitoring and managing method and monitoring equipment, unmanned plane.
Background technology
Unmanned plane is as a kind of aviation aircraft, during using spatial domain, indefinite, infringement that there is flight ranges
The problems such as privacy, security risk, needs to be supervised by certain rank to ensure the safety of the public.
Currently, may include phased-array radar for intercepting with discovery technique for unmanned plane, electronic imaging, sonic detection and
Radio-frequency signal detection etc., but these technologies are not yet ripe, can not perform well in finding small drone, and even if finding small-sized
Unmanned plane can not also provide the relevant informations such as identity and the geographical location of unmanned plane, while these technologies all have unstable, work
With it is not high apart from short or accuracy the shortcomings of, specifically can be as follows：1, phased-array radar：Since small drone is small, reflection
Face is small, radar horizon is short, and to be not easy to be that unmanned plane or other objects distinguish to target, error detection probability is high.And
The use volume of phased-array radar is big, increases site layout project difficulty；2, electronic imaging：First, detection probability is low, second is that long distance
Bigbore camera lens is needed from detection, third, more difficult resolution target is unmanned plane or flight birds, thermal imaging has above-mentioned
Same problem；3, sonic detection：For relatively other technologies, detecting distance is shorter, while big by the interference of ambient noise, especially
It is to cannot achieve the identification to simple target when multiple UAVs while while occurring；4, radio-frequency signal detection：Due to unmanned plane
ISM (Industrial Scientific Medical) frequency band signals are generally used, and use the equipment of such frequency range numerous,
And the unmanned plane signal characteristic of different model is different, and unmanned plane signal is detected to be difficult to the area from the feature of radiofrequency signal,
Meanwhile unmanned plane signal to crack difficulty big, and unmanned plane signal is after being cracked, producer may carry out firmware update with
The loophole that unmanned plane signal is cracked is repaired, it is easier that crack method fails.
In addition, in addition to above-mentioned technology, unmanned plane can also be broadcasted by carrying ADS-B equipment, while ground coordinates
There is radar equipment to be detected and realizes supervision.However, since ADS-B equipment is high-power transmitting equipment (being more than 100W), then
It is relatively difficult to be suitable in medium and small miniature drone, and the radar detection on ground has the volume and flying height of target aircraft
It is certain to require, and for the medium and small miniature drone with the characteristics of " low/slow/small/more ", it is difficult to realize efficient detection.
Invention content
An embodiment of the present invention provides a kind of unmanned aerial vehicle (UAV) control method and control device, unmanned plane monitoring and managing method and supervision to set
Standby, unmanned plane, for realizing the supervision to unmanned plane.
In view of this, first aspect present invention provides a kind of unmanned aerial vehicle (UAV) control method, it may include：
The supervision information for obtaining unmanned plane will supervise information configuration into supervisory frame or supervision subframe using processor；
In the working channel of communication network between unmanned plane and control terminal, using transmitter preset length when
Between supervisory frame or supervision subframe are sent in piece and/or on default frequency point.
Second aspect of the present invention provides a kind of monitoring and managing method of unmanned plane, it may include：
Using the working channel of the communication network between detector scanning unmanned plane and control terminal, obtains and sent out from unmanned plane
The data sent；
Supervisory frame or supervision subframe are determined from data using processor；
The supervision information of unmanned plane is obtained from supervisory frame or supervision subframe using processor.
Third aspect present invention provides a kind of control device, it may include：
Processor, the supervision information for obtaining unmanned plane, by supervision information configuration at supervisory frame or supervision subframe；
Transmitter is used in the working channel of the communication network between unmanned plane and control terminal, in preset length
Supervisory frame or supervision subframe are sent in timeslice and/or on default frequency point.
Fourth aspect present invention provides a kind of monitoring equipment, it may include：
Detector, the working channel for scanning the communication network between unmanned plane and control terminal are obtained from unmanned plane
The data of transmission；
Processor, for determining supervisory frame or supervision subframe from data；Nobody is obtained from supervisory frame or supervision subframe
The supervision information of machine.
Fifth aspect present invention provides a kind of unmanned plane, it may include：
Dynamical system, for providing flying power for unmanned plane；
Control device as described in the third aspect.
As can be seen from the above technical solutions, the embodiment of the present invention has the following advantages：
The case where being different from the prior art, the present invention, can be with by that will supervise information configuration into supervisory frame or supervision subframe
In the timeslice of preset length and/or on default frequency point, the work of the communication network between unmanned plane and control terminal is utilized
Channel sends supervisory frame or supervision subframe, when being supervised to unmanned plane to monitoring equipment, it is only necessary to obtain supervisory frame or prison
Pipe frame can obtain supervision information, and violence is carried out in other frames or subframe not transmitted between unmanned plane and control terminal
In the case of cracking, so that it may to realize the supervision to unmanned plane.This ensure that monitoring equipment obtains the supervision information of unmanned plane
Real-time, protect the privacy of unmanned plane user；Meanwhile in such a way that software mode creates supervisory frame or supervision subframe,
Without changing the hardware configuration of unmanned plane or increasing the hardware cost of unmanned plane, you can simply and efficiently so that monitoring equipment obtains
Take the supervision information of unmanned plane.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is the data transmission schematic diagram of unmanned plane in the embodiment of the present invention；
Fig. 2 is unmanned aerial vehicle (UAV) control method one embodiment schematic diagram in the embodiment of the present invention；
Fig. 3 is another embodiment schematic diagram of unmanned aerial vehicle (UAV) control method in the embodiment of the present invention；
Fig. 4 is the first structure schematic diagram that subframe is supervised in the embodiment of the present invention；
Fig. 5 is the second structural schematic diagram that subframe is supervised in the embodiment of the present invention；
Fig. 6 is the third structural schematic diagram that subframe is supervised in the embodiment of the present invention；
Fig. 7 is another embodiment schematic diagram of unmanned aerial vehicle (UAV) control method in the embodiment of the present invention；
Fig. 8 is another embodiment schematic diagram of unmanned aerial vehicle (UAV) control method in the embodiment of the present invention；
Fig. 9 is another embodiment schematic diagram of unmanned aerial vehicle (UAV) control method in the embodiment of the present invention；
Figure 10 is unmanned plane monitoring and managing method one embodiment schematic diagram in the embodiment of the present invention；
Figure 11 is another embodiment schematic diagram of unmanned plane monitoring and managing method in the embodiment of the present invention；
Figure 12 is the data transmission schematic diagram of medium-long range supervising platform of the embodiment of the present invention；
Figure 13 is another embodiment schematic diagram of unmanned plane monitoring and managing method in the embodiment of the present invention；
Figure 14 is control device one embodiment schematic diagram in the embodiment of the present invention；
Figure 15 is monitoring equipment one embodiment schematic diagram in the embodiment of the present invention；
Figure 16 is another embodiment schematic diagram of monitoring equipment in the embodiment of the present invention.
Specific implementation mode
An embodiment of the present invention provides a kind of unmanned aerial vehicle (UAV) control method and control device, unmanned plane monitoring and managing method and supervision to set
Standby, unmanned plane, for realizing the supervision to unmanned plane.
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The every other embodiment that member is obtained without making creative work should all belong to the model that the present invention protects
It encloses.
Term " first ", " second ", " third " in description and claims of this specification and above-mentioned attached drawing, "
The (if present)s such as four " are for distinguishing similar object, without being used to describe specific sequence or precedence.It should manage
The data that solution uses in this way can be interchanged in the appropriate case, so that the embodiments described herein can be in addition to illustrating herein
Or the sequence other than the content of description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that
Cover it is non-exclusive include, for example, containing the process of series of steps or unit, method, system, product or equipment need not limit
In those of clearly listing step or unit, but may include not listing clearly or for these processes, method, production
The intrinsic other steps of product or equipment or unit.
In the embodiment of the present invention, it is assumed that there are unmanned plane, as shown in Figure 1, the unmanned plane can be led to control terminal
Letter connection, to realize that control terminal controls the flight of unmanned plane, while collected data can be sent to control by unmanned plane
Terminal processed.In the embodiment of the present invention, unmanned plane can also be supervised by monitoring equipment, i.e., monitoring equipment can obtain unmanned plane
With the communication data between its control terminal.
Currently, SDR (Software Defined Radio, the radio of software definition) is a kind of radio broadcasting communication
Technology, SDR use standardization, modular general hardware platform, can will such as be worked frequently based on the part of software definition
Section, modulation system, data format, communication protocol etc. realized by software, since software is easy for downloading and upgrades, because
This need not replace hardware completely.SDR technologies due to its software definition flexibility, by the use of numerous unmanned plane producers.
However, SDR technologies having strong flexibility and open wireless communication technique as a kind of, to certain ginsengs therein
Number is with minor modifications, you can with variation for different communication protocol.Therefore, when passing through SDR technologies between unmanned plane and control terminal
After establishing communication connection, monitoring equipment in the prior art is difficult to find a kind of general method to monitor based on SDR technologies
Communication system, to realize the supervision to unmanned plane.Secondly, for commercial interest the considerations of, each unmanned plane producer is manufacturing nobody
When machine, the technical detail of the SDR technologies used will not be usually disclosed, different company is manufactured to being difficult to realize monitoring equipment
The supervision of unmanned plane.Furthermore theoretically it can pass through violence in the case where monitoring equipment obtains the realization details of SDR technologies
The mode cracked realizes intercepting to the transmitting information content of the unmanned plane using SDR technologies, and then knows the identity of unmanned plane
Information, location information etc. supervise information, but the time needed for Brute Force is long, it is difficult to ensure what monitoring equipment monitored unmanned plane
Requirement of real-time.Currently, for the needs of information security, unmanned plane has usually merged advanced information encryption function so that prison
The cost that identity information, location information that tube apparatus obtains unmanned plane by Brute Force etc. supervises information is higher, is unfavorable for
Control supervision cost.
In the embodiment of the present invention, it is proposed that a kind of unmanned aerial vehicle (UAV) control method and control device, unmanned plane monitoring and managing method and prison
Tube apparatus, unmanned plane, unmanned plane can will supervise information configuration into individual supervisory frame by the supervision information of acquisition unmanned plane
Or supervision subframe in, supervisory frame or supervision subframe be different between unmanned plane and control terminal transmission data traditional frame or son
Frame, at this point, monitoring equipment only needs to receive supervisory frame or supervises subframe to obtain the supervision information of unmanned plane, the program is fully sharp
The flexibility of software definition is carried out with SDR technologies to create supervisory frame of the configuration comprising supervision information or supervision subframe, with supervision
Frame or supervision subframe are carrier so that monitoring equipment can obtain the supervision information of unmanned plane, need not be to unmanned plane or control
Traditional frame or subframe that terminal is sent is cracked to obtain the supervision information of unmanned plane, this ensure that monitoring equipment obtains
Unmanned plane supervises the real-time of information, while protecting the privacy of unmanned plane user, in addition, passing through software configuration supervisory frame or prison
The mode of pipe frame, without changing the hardware configuration of unmanned plane, you can realize the unmanned plane supervision of low cost.
It is understood that in the embodiment of the present invention, unmanned plane, i.e. unmanned vehicle can be rotor craft, fixation
The aircraft etc. that rotor aircraft or fixed-wing are mixed with rotor.Wherein, rotor craft can include but is not limited to single rotor, double
More rotors such as rotor, three rotors, quadrotor, six rotors etc., do not limit herein.In practical applications, unmanned plane may be implemented
The movement of various dimensions, such as vertical movement, pitching movement, rolling movement, move forward and backward, carrier can be installed on fuselage
Auxiliary device, with can realize carrier fixation, arbitrarily adjust carrier posture (such as：The height of change carrier,
Inclination angle and/or direction) and so that carrier is stably held in determining posture is first-class, the carrier on auxiliary device may include then
Camera, video camera or sensor etc., with can realize different task execution and unmanned plane it is multi-functional, specifically herein not
It limits.
Further, in the embodiment of the present invention, control terminal can include but is not limited to remote controler, smart mobile phone, tablet,
It is one or more in intelligent wearable device (wrist-watch, bracelet), ground control station, PC, laptop computer etc..
It should be noted that in the embodiment of the present invention, as shown in Figure 1, after unmanned plane establishes communication connection with control terminal,
The upstream data of unmanned plane refers to the communication data that unmanned plane is sent to from control terminal, and the downlink data of unmanned plane refers to from nothing
The man-machine communication data for being sent to control terminal limit herein after, is not repeated to illustrate later.
For ease of understanding, the detailed process in the embodiment of the present invention is described below, referring to Fig. 2, the present invention is real
Applying unmanned aerial vehicle (UAV) control method one embodiment in example includes：
201, the supervision information for obtaining unmanned plane will supervise information configuration into supervisory frame or supervision subframe using processor；
In the present embodiment, since communication connection can be established between unmanned plane and control terminal, then unmanned plane and control
Terminal can be used as executive agent, in the flight course of unmanned plane, to obtain the supervision information of unmanned plane, and can utilize
Processor will supervise information configuration into supervisory frame or supervision subframe.
Specifically, any one subframe in a frame or a frame due to being transmitted between unmanned plane and control terminal
It is configurable to be sent by downlink data, can also be configured as being sent by upstream data, therefore, will supervise
After pipe information configuration is at supervisory frame or supervision subframe, supervisory frame or supervision subframe can be sent by downlink data, that is, be supervised
Pipe frame or supervision subframe sent by unmanned plane, in addition supervisory frame or supervision subframe can also by upstream data come into
Row is sent, i.e. supervisory frame or supervision subframe is sent by the control terminal being connect with unmanned plane.
In the present embodiment, processor can be configured on unmanned plane, can also be configured in control terminal.Preferably, locate
Device configuration is managed on unmanned plane, is not limited herein.
202, in the working channel of the communication network between unmanned plane and control terminal, using transmitter in preset length
Timeslice in and/or default frequency point on send supervisory frame or supervision subframe.
In the present embodiment, using processor by the supervision information configuration of the unmanned plane of acquisition at supervisory frame or supervision subframe
Afterwards, in the working channel of communication network that can be between unmanned plane and control terminal, using transmitter preset length when
Between supervisory frame or supervision subframe are sent in piece and/or on default frequency point.
Specifically, the connection based on wireline communication network is unfavorable for the flight control of unmanned plane, it is preferred that the present embodiment
In, the communication network between unmanned plane and control terminal can be cordless communication network.Work under the cordless communication network
It, can be in the timeslice of preset length after unmanned plane and control terminal define communication specification between the two in channel
Supervisory frame or supervision subframe are sent, i.e., in wireless frame format, divides the timeslice of a preset length for sending supervisory frame
Or supervision subframe, remaining timeslice then can be used for sending supervisory frame or supervise other frames other than subframe or other subframes
(traditional frame or subframe that i.e. unmanned plane of preceding sections or control terminal are sent)；Supervision can also be sent on default frequency point
Frame or supervision subframe send supervisory frame outside default frequency point or supervise other frames other than subframe or other subframes；It can also be
Supervisory frame or supervision subframe are sent in the timeslice of preset length and on default frequency point, clearly to send supervisory frame or supervision subframe
Timeslice length and frequency point.
In communication network between unmanned plane and control terminal, may exist multiple working channels, no matter supervisory frame or
Supervision subframe is sent in the timeslice of preset length and/or on default frequency point, and unmanned plane or control terminal can be in multiple works
Make to select one of working channel to send supervisory frame or supervision subframe in channel, wherein when supervisory frame or supervision subframe can be with
When according to presetting frequency point transmission, the selection of working channel can be carried out according to default frequency point.In practical applications, transmitter is utilized
When sending supervisory frame or supervision subframe, the transmission power of transmitter can be adjusted so that supervisory frame or supervision subframe are when sending
It is transmitted in bin width where the working channel of communication network that can be between unmanned plane and control terminal.
It is understood that the communication connection in the present embodiment between unmanned plane and control terminal is in addition to that can be based on SDR
Technology can also be other in practical applications, as long as can realize supervisory frame or supervise the transmission of subframe, it is specific this
Place does not limit.
In the present embodiment, which can be arranged on unmanned plane, can also be arranged in control terminal, not do herein
It limits.The supervisory frame or supervision subframe sent due to control terminal is easy to be blocked by vegetation, building, mountain etc., it is preferable that transmitting
Device can be arranged on unmanned plane, and supervisory frame or supervision subframe are sent using the downlink data of unmanned plane.
In the present embodiment, by the way that information configuration will be supervised at supervisory frame or supervision subframe, in the timeslice of preset length
And/or supervisory frame or supervision subframe are sent on default frequency point so that monitoring equipment can be by obtaining supervisory frame or supervision subframe
To obtain supervision information.In this way, when monitoring equipment supervises unmanned plane, without being transmitted between unmanned plane and control terminal
Other frames or subframe cracked to obtain supervision information, it is only necessary to obtain supervisory frame or supervision subframe, be conducive to not right
In the case that other frames or other subframes progress non-injury crack, this ensure that monitoring equipment obtains unmanned plane supervision information
Real-time, while the privacy of unmanned plane user is protected, in addition, configuring supervisory frame by software mode or supervising the side of subframe
Formula, without increasing hardware cost, you can simply and efficiently so that monitoring equipment obtains the supervision information of unmanned plane.
It is understood that since supervisory frame or supervision subframe can be in the timeslices of preset length and/or default frequency
It sends on point, will be supervised below using unmanned plane as executive agent to being sent in the timeslice of preset length and/or on default frequency point
Pipe frame or the corresponded manner for supervising subframe are schematically illustrated, wherein processor and/or transmitter can be configured at unmanned plane
On.
One, it is sent in the timeslice of preset length
Referring to Fig. 3, unmanned aerial vehicle (UAV) control method one embodiment includes in the embodiment of the present invention：
301, the supervision information of unmanned plane is obtained；
In the present embodiment, in order to be advantageously implemented the supervision of unmanned plane, in the flight course of unmanned plane, unmanned plane can be with
Obtain the supervision information of unmanned plane.
Specifically, the information of supervision information in the present embodiment as instruction unmanned plane relevant parameter, may include but not
It is limited to identity information, location information, flight parameter information, flight attitude information, owner information, the time buying letter of unmanned plane
The position letter of breath, purchase location information, history flight path information, hardware configuration information, check bit information and control terminal
It is one or more in breath.
Wherein, identity information can include but is not limited to the type of manufacturer's identifier and unmanned plane；Believe the position of unmanned plane
At least one of location information when breath can include but is not limited to the current location information of unmanned plane, unmanned plane takes off；Fly
Row parameter information can include but is not limited at least one in flight maximum speed, flight maximum height and current flight speed
Kind；Flight attitude information can include but is not limited at least one of roll angle, pitch angle and yaw angle；Hardware configuration information
It can include, but is not limited to the configuration information of the payload of unmanned plane；Check bit information can be the schools cyclic redundancy CRC
Test code；The location information of control terminal can include but is not limited to location information when unmanned plane takes off, determine in control terminal
At least one of the location information of position equipment output.
It in practical applications, can be by unmanned plane voluntarily there are many modes of the supervision information of unmanned plane acquisition unmanned plane
Acquisition, can also be obtained by unmanned plane by external data source, specific as follows：
1, unmanned plane voluntarily acquires：Sensor-based system and memory can be configured on unmanned plane, wherein sensor-based system can
For obtaining unmanned plane current location information and/or flight attitude information, the body of unmanned plane can be stored in memory
Part information, the flight maximum speed in flight parameter information and/or flight maximum height, owner information, time buying information,
The one or more of the location information of location information, history flight path information, hardware configuration information and control terminal are bought,
Check bit information can then be provided by processor, to realize that the verification to other information, unmanned plane can be obtained by processor
The above- mentioned information of memory storage.
Specifically, sensor-based system may include that GNSS (Global Navigation Satellite System, defend by the whole world
Star navigation system) device, GNSS device can be specially GPS (Global Positioning System, global positioning system)
The positioning to unmanned plane may be implemented in device, GNSS device or GPS device, to acquire the current location information of unmanned plane.Sensing
System can also include Inertial Measurement Unit IMU, and IMU may rely on the flight attitude information that gyroscope obtains unmanned plane, also
It may rely on accelerometer and obtain the current flying speed of unmanned plane, to determine the current state of flight of unmanned plane.
It is understood that sensor-based system in the present embodiment may be used also in practical applications in addition to the content of above description
Think ultrasonic sensor, radar wave sensor, visual sensor (such as camera) or and combinations thereof, do not do herein specifically
It limits.
Further, if flight maximum speed and flight maximum height in flight parameter information are the history of unmanned plane
Flight information, then sensor-based system can be stored in depositing for unmanned plane after getting location information and/or flight attitude information
In reservoir, most with the flight accumulative in history flight course of the history flight path information and unmanned plane that form unmanned plane
Big speed and flight maximum height.And if flight maximum speed and flight maximum height in flight parameter information are nobody
The intrinsic parameter of machine, then for unmanned plane, the flight maximum speed in the identity information of unmanned plane, flight parameter information
And/or flight maximum height, hardware configuration information can be recorded in memory before unmanned plane dispatches from the factory, and can also be in nothing
It is recorded by the unmanned plane owner after man-machine manufacture, and then the owner information of unmanned plane, time buying information, purchase place
Information can then be recorded after unmanned plane manufacture.
In above-mentioned supervision information, when unmanned plane takes off, the sensor-based system on unmanned plane can also obtain unmanned plane and rise
Fly when location information and be stored in memory, if distance controlling terminal is closer when unmanned plane takes off, when unmanned plane takes off
Location information can also be used as the location information of control terminal, conversely, positioning device can be equipped in control terminal, then nothing
The location information of the man-machine positioning device output that can obtain control terminal is stored in storage as the location information of control terminal
In device.
Further, in addition to including fuselage, being connected to the undercarriage of fuselage and the hardware of above description on unmanned plane
Other payloads are also provided with except configuration, on unmanned plane, specifically, unmanned plane can be equipped with for collecting visualization
The different instruments of data, such as various video cameras for being used for image and/or video acquisition, and according to the type and purposes of unmanned plane
Difference, be also provided on unmanned plane such as in relation to agriculture task, transport detection, request of going sightseeing, area-of-interest feature
Equal payloads, to realize the correlation function of unmanned plane.Therefore, the hardware configuration information of unmanned plane can also be stored in unmanned plane
In memory, to further characterize the correlated characteristic of unmanned plane.
2, unmanned plane can obtain supervision information from external data source：Wherein, on the one hand, unmanned plane can be obtained in work
Make the supervision information that the upstream data in channel using unmanned plane is sent, in such a case it is possible to acquire nobody by control terminal
The supervision information of machine, control terminal can utilize the upstream data of unmanned plane to be sent to unmanned plane by information is supervised so that nobody
Machine can obtain the supervision information of control terminal transmission.For example, sensor-based system, the sensor-based system can be equipped in control terminal
Control terminal can be positioned, control terminal can use after the location information of sensor-based system acquisition for obtaining itself
The location information of the control terminal is sent to unmanned plane by the upstream data of unmanned plane.
On the other hand, optionally, the supervision information of unmanned plane can also be provided by server or high in the clouds, you can with by controlling
Terminal obtains supervision information from high in the clouds or server, then will supervise information hair by the upstream data of unmanned plane by control terminal
It send to unmanned plane.For example, the identity sequence number of oneself is sent to control terminal by unmanned plane, control terminal sends out identity sequence number
Server or high in the clouds are given, server can transfer out the monitoring information of unmanned plane, such as unmanned plane according to identity sequence number
Owner information (registration mailbox, phone), server is sent to control terminal by information is supervised, and unmanned plane can be from control eventually
End obtains supervision information.
It is understood that the acquisition of supervision information in practical applications can also in addition to several situations of above description
It is acquired by unmanned plane partially self, partly obtains from external data source, do not limit herein specifically.
It should be noted that in practical applications, according to the actual demand of supervision information and supervisory frame or supervision subframe
Sending time node, the supervision information of unmanned plane can be obtained, can also periodically be obtained, specifically herein in real time
It does not limit.
302, information configuration will be supervised into supervisory frame or supervision subframe according to preset SDR technical specifications；
In the present embodiment, after unmanned plane gets the supervision information of unmanned plane, it can be incited somebody to action according to preset SDR technical specifications
Information configuration is supervised into supervisory frame or supervision subframe.
Specifically, being illustrated for supervising subframe, it is assumed that will supervise information configuration according to preset SDR technical specifications
At supervision subframe, i.e., in the wireless frame format of the original of the SDR communication systems of unmanned plane, a supervision subframe can be created again, such as
Shown in Fig. 4, which can include at least one data word section (DATA), may include at least one data field
Supervise information, wherein the number of data field can be configured according to the data volume size of supervision information, e.g., if a number
It is greater than or equal to the data volume of supervision information according to the data volume that field can carry, then can a number be inserted into supervision information
According in field, supervision information can also be split into multiple supervision information segments, and can be in multiple data fields of setting
Each in be inserted at least one supervision information segment, if the data volume of one data word Duan Suoneng carrying is less than supervision information
Data volume size, then supervision information can be split into multiple supervision information segments, and can be in multiple data words of setting
It is inserted at least one supervision information segment in each in section.
Further, as shown in figure 4, a reference field (RS0, RS1) can also be included at least in supervision subframe, this is extremely
A reference field can be used for synchronous with the monitoring equipment of unmanned plane progress data less, so that monitoring equipment is realized
To the real-time monitoring of unmanned plane.
In practical applications, preset SDR technical specifications can be by unmanned plane monitoring equipment is specified or unmanned plane
Technical specification known to monitoring equipment so that monitoring equipment can be obtained according to the preset SDR technical specifications or demodulation is supervised
Subframe, meanwhile, which can be the technical specification based on tdd mode or fdd mode, i.e., believed by supervision
The supervision subframe being configured to is ceased, the communication pattern that can meet the communication network between unmanned plane and control terminal is tdd mode
Or the requirement of frame structure when fdd mode.
Wherein, preset SDR technical specifications may include preset working frequency range, frequency point, modulation system, data format and
It is one or more in communication protocol.It, can be according to preset modulation system to the data word in supervision subframe in the present embodiment
Section and/or data field are modulated, it is preferred that the modulation system of data field and/or data field can be orthogonal phase shift
Keying QPSK.
It is understood that in the present embodiment preset SDR technical specifications in addition to above description content, in practical application
In, can also include other contents, such as encryption mode does not limit specifically herein.
It should be noted that being referred to supervision subframe about the description of supervisory frame in the present embodiment, herein no longer
It repeats.
303, the timeslice of preset length is periodically set using processor；
In the present embodiment, unmanned plane will supervise information configuration into supervisory frame or supervision according to preset SDR technical specifications
After frame, it can utilize processor that the timeslice of preset length is periodically set.
Specifically, in order to periodically obtain the supervision information of unmanned plane conducive to monitoring equipment, realize to unmanned plane
Supervision, unmanned plane can utilize processor that the timeslice of preset length periodically be arranged.Based on Fig. 4, matched with supervising information
It is set to for supervision subframe and illustrates, it, can be with as shown in figure 5, in the wireless frame format of original of the SDR communication systems of unmanned plane
It is T1 (length of the timeslice of preset length) to divide a time span as the configuration period of the timeslice of preset length using T0
Timeslice as supervision subframe, for example, using 1 second for configuration the period mark 1 millisecond as supervise subframe, i.e., in former radio frames lattice
In formula, at interval of T0-T1 time can by supervision information configuration at the timeslice of a preset length length be T1 supervision
Subframe, wherein supervision subframe can be sent by downlink data, that is, supervised subframe and sent by unmanned plane, in addition supervise subframe
It can also be sent by upstream data, not do specific restriction herein.Other time piece in T0 in addition to T1 then can conduct
Other subframes, to meet the transmission of other communication datas between unmanned plane and control terminal, wherein other subframes can pass through
Upstream data is sent, and the control instruction to unmanned plane is included at least in other subframes sent by upstream data, in addition, its
He can also be sent subframe by downlink data, wherein include at least nobody in other subframes sent by downlink data
The image data information of image acquisition device on machine, illustrates for convenience herein, can will pass through upper line number
It is known as sub-frame of uplink according to other subframes of transmission, other subframes sent by downlink data are known as downlink subframe.It is appreciated that
, T1 can be located at any position in T0, such as head end, but for same unmanned plane, the position of T1 be it is fixed, with
Meet the periodical setting of T1, and for different unmanned planes, the corresponding positions T1 can be inconsistent.
In practical applications, the length (T1) of the timeslice of preset length should meet preset length requirement, optionally, in advance
If the ratio of the length of the configuration period of the timeslice of length and the timeslice of preset length can be greater than or equal to preset threshold
Value, not influence the transmission of other subframes between unmanned plane and control terminal, for example, T0 can be 500 times or more of T1.
It is understood that in tdd mode, since receiving and transmitting signal carries out in the different time-gap of same frequency channel,
Then other subframes may include sub-frame of uplink, downlink subframe, and in the fdd mode, since receiving and transmitting signal is in two different frequencies
It is carried out in channel, when supervision subframe is sent by downlink data, then other subframes may include downlink subframe, work as supervision
When subframe is sent by upstream data, then other subframes may include sub-frame of uplink.Therefore, it is whole with control to be based on unmanned plane
The communication pattern of communication network between end, when different communication patterns, other subframes can be different.Meanwhile other above-mentioned sons
Frame is not limited to unmanned plane transmission, or the control terminal being connected with unmanned plane is sent, the particular content of other subframes
It can specifically determine according to main body is sent, do not limit herein.
It should be noted that being referred to supervision subframe about the description of supervisory frame in the present embodiment, herein no longer
It repeats.
304, it in the working channel of the communication network between unmanned plane and control terminal, is set periodically using transmitter
In the timeslice for the preset length set supervisory frame or supervision subframe are sent according to preset SDR technical specifications.
It, can be at nobody after the timeslice of preset length periodically is arranged using processor in unmanned plane in the present embodiment
In the working channel of communication network between machine and control terminal, using transmitter within the preset length time being periodically arranged
Supervisory frame or supervision subframe are sent according to preset SDR technical specifications.
Specifically, in the channel list that unmanned plane and the communication network of control terminal are equipped with, unmanned plane can utilize hair
Emitter is sent out on any operative channel in channel list, using transmitter in the timeslice for the preset length being periodically arranged
Send supervisory frame or supervision subframe.However, different working channels has corresponding working condition, working condition is inconsistent, work
The quality of channel is inconsistent.Therefore, in order to which unmanned plane can send supervisory frame or prison in the preferable working channel of channel quality
Pipe frame, unmanned plane can utilize in multiple working channels that processor obtains the communication network between unmanned plane and control terminal
The working condition of each working channel.
In the present embodiment, the working condition of working channel at least may include the current bandwidth of working channel.Actually answering
In, each working channel that the communication network between unmanned plane and control terminal is equipped with occupies certain bandwidth, each work
The bandwidth of channel is inconsistent, and transmission rate also will be inconsistent.For example, it is assumed that the bin width of 5GHZ is total up to 100MHZ, put down
Non-interfering 10 working channels are divided into, then the bandwidth of each working channel is 10MHZ, and work as several working channels
Between when may exist overlapping phenomenon, in the case where the bandwidth of each working channel is 10MHZ, the frequency range broadband of 5GHZ can be with
It is divided into 10 or more the working channels interfered with each other.Therefore, the division based on working channel, communication protocol difference and
The service condition of working channel, unmanned plane can obtain multiple works of its communication network between control terminal using processor
Make the current bandwidth of each working channel of channel, suitably to be selected multiple working channels.
It is understood that in the present embodiment working channel working condition in addition to the working channel of above description it is current
Bandwidth can also include in practical applications other parameters, as the current capacity of working channel, current handling capacity, it is current
Error rate etc., does not limit herein.
Further, in multiple working channels that the communication network between unmanned plane and control terminal is obtained using processor
After the working condition of each working channel, processor can be utilized to select one to send supervisory frame or supervision according to working condition
The working channel of subframe.Specifically, unmanned plane obtains the work of each working channel in multiple working channels using processor
After state, the working channel that working condition can be selected best is as the working channel for sending supervisory frame or supervision subframe.
In practical applications, the relevant parameter in the working condition of each working channel can also be compared, in multiple works
Make to select the preferable working channel of relevant parameter as the working channel for sending supervisory frame or supervision subframe, example in channel
Such as, the current lower working channel of error rate of working channel is chosen, no overlap condition and work shape can also be selected
A best working channel of state can also to reduce signal interference as the working channel for sending supervisory frame or supervision subframe
The maximum working channel of bandwidth is selected to send supervisory frame or supervision subframe.
It is understood that distinct device is using overlapping and unmanned plane safe to use in order to prevent, in reality
In, it should according to the specifically used scope of unmanned plane and the communication network used, in the frequency range that unmanned plane can use
The suitable working channel of selection in range, for example, China plan 840.5MHz to 845MHz, 1430MHz to 1444MHz and
2408MHz is to 2440MHz frequency ranges for push-button aircraft system.
In view of the selection of the working channel of the above-mentioned communication network between unmanned plane and control terminal, in the present embodiment,
Unmanned plane can utilize transmitter in the working channel chosen, and prison is sent in the timeslice for the preset length being periodically arranged
Pipe frame or supervision subframe, continue to use the content that step 303 illustrates, i.e., send supervisory frame or supervision subframe in T1 using T0 as the period.
Wherein, the transmission standard of supervisory frame or supervision subframe can be according to preset SDR technical specifications, the preset SDR
Technical specification can be by unmanned plane monitoring equipment is specified or the monitoring equipment of unmanned plane known to technical specification so that supervision
Equipment can be obtained according to the preset SDR technical specifications or demodulation supervision subframe, meanwhile, which can
Think the technical specification based on tdd mode or fdd mode, i.e., by supervision information configuration at supervision subframe, nobody can be met
Transmission requirement when the communication pattern of communication network between machine and control terminal is tdd mode or fdd mode.
Wherein, preset SDR technical specifications may include preset working frequency range, frequency point, modulation system, data format and
It is one or more in communication protocol.For example, can using 2.4GHz as working frequency range, with 2414.5MHz, 2429.5MHz,
2444.5MHz, 2459.5MHz are frequency point, and using OFDM as modulation system, data format can be that 6 data fields carry 2 ginsengs
Field is examined, data field and reference field can be modulated by QPSK.It should be noted that about default in the present embodiment
SDR technical specifications concrete numerical value by way of example only, in practical applications, can also be other numerical value contents, Ke Yigen
It is configured according to the onsite supervision needs of monitoring equipment, does not limit herein specifically.
In practical applications, the transmission in the timeslice of preset length in addition to supervisory frame or supervision subframe, unmanned plane with
Other communications can also be carried out between control terminal, as control terminal can utilize the upstream data of unmanned plane to realize to unmanned plane
Control instruction transmission, then unmanned plane can be sent other than the timeslice of preset length using transmitter other frames or its
His subframe, i.e., send with other frames or other subframes in different time-gap.Since other frames or other subframes are in the SDR of unmanned plane
It does not change in the wireless frame format of original of communication system, then the former SDR of unmanned plane may be used in other frames or other subframes
Technical specification is sent, i.e. supervisory frame or the working frequency range of supervision subframe, frequency point, modulation system, data format, communication protocol
In one or more can be different from other frames or other subframes.Wherein, may include work in other frames or other subframes
Data information, the operational data information can include at least the image data information that is acquired by unmanned plane imaging device, such as by
The photographic intelligence or real-time recording information of camera shooting on unmanned plane, to facilitate behaviour of the unmanned plane user to unmanned plane
Make, other requirements such as frame structure and carrying content of other frames or other subframes are referred to existing SDR technologies, herein not
It repeats again.
It is understood that in practical applications, other frames or sending for other subframes can not also use unmanned plane
Former SDR technical specifications, such as WI-FI technologies or other customized communications protocol may be used, can also use and send prison
Pipe frame supervises the consistent SDR technical specifications of subframe, does not limit herein.
Further, in the present embodiment, unmanned plane can utilize start bit of the processor in the timeslice of preset length
It sets and/or end position setting protection time slot is illustrated, as shown in fig. 6, can supervise based on Fig. 5 for supervising subframe
The starting position of pipe frame and end position are respectively provided with protection time slot, that is, supervise the length and protection time slot of the timeslice of subframe
The sum of length of timeslice can be T0, which is that unmanned plane is completed to send supervision subframe and sends it using transmitter
Used in switching between his subframe, as radio frequency switching retains time enough.Optionally, which can be 150 micro-
Second to 300 microseconds.It should be noted that in practical applications, when unmanned plane is equipped with more set radio-frequency receiving-transmitting equipment, if other frames
Or reception, the transmission of other subframes use different radio-frequency receiving-transmitting equipment from the transmission of supervisory frame or supervision subframe, then
It can be not provided with protection time slot, do not limited herein.
Further, the explanation based on above-described embodiment, optionally, in supervisory frame or the transmission process of supervision subframe
In, supervisory frame or supervision subframe are listened equipment to steal the supervision information of unmanned plane and endangered by the frames other than monitoring equipment in order to prevent
The safety of unmanned plane can reinforce the safeguard protection of the supervision information of unmanned plane.
Specifically, unmanned plane after getting supervision information, can utilize processor according to preset encryption rule to prison
Pipe information is encrypted, and can by encrypted supervision information configuration at supervisory frame or supervision subframe so that supervisory frame or
Even if supervising subframe after being stolen, can not still parse to obtain the supervision information of unmanned plane.However, the preset encryption rule can
Encryption rule known to the monitoring equipment of unmanned plane is thought, so that monitoring equipment is arrived in scanning containing supervisory frame or supervision
After the data of frame, encrypted supervision information can be decrypted by known preset encryption rule, and utilizes decryption
Obtained supervision information is realized unmanned plane and is supervised.
It is understood that it is referred to the prior art for the preset encryption rule of supervision information in the present embodiment,
Details are not described herein again.
Based on embodiment illustrated in fig. 3, in the present embodiment, different unmanned planes are sent in order to prevent supervisory frame or supervision subframe
It collides, the frequency point of the supervisory frame or supervision subframe that are sent in the timeslice of preset length can be jumped on optional frequency point
Frequently, referring to Fig. 7, another embodiment of control method includes in the embodiment of the present invention：
The step 301 in step 701 to step 703 as shown in figure 3 embodiment in the present embodiment is identical to step 303,
Details are not described herein again.
704, the second frequency point different from the first frequency point is determined；
In the present embodiment, after the timeslice of preset length periodically is arranged using processor in unmanned plane, it may be determined that no
It is same as the second frequency point of the first frequency point, wherein the first frequency point can be the upper supervisory frame sent or upper supervision subframe
Frequency point.
It, can be with for sending adjacent supervisory frame or supervising frequency point between subframe specifically, in order to avoid colliding
It is inconsistent, you can frequency hopping occurs, then when being ready for sending current supervisory frame or supervision subframe, can first to determine upper one
Supervisory frame or the frequency point for supervising subframe, i.e. the first frequency point, and can determine the second frequency point different from the first frequency point.
In practical applications, frequency pattern can be pre-set, so that unmanned plane can be according to preset frequency pattern
Determine that the second frequency point different from the first frequency point, the preset frequency pattern can be that the monitoring equipment of unmanned plane is specified or known
Frequency pattern so that monitoring equipment can be obtained on the frequency point of precognition adjacent supervisory frame or supervision subframe.Optionally,
The preset frequency pattern can be the frequency pattern of randomization setting, for example, it is assumed that have 2414.5MHz, 2429.5MHz,
This 3 frequency points of 2444.5MHz select for frequency hopping, then it can be randomly provided into preset frequency pattern with this 3 frequency points, it can
Choosing, can the identity code of unmanned plane determines according to frequency pattern, distinguished by the identity code of unmanned plane
Useful signal and interference signal can not carry out frequency hopping in unmanned plane and control terminal when frequency fixing communication.
It is understood that in the present embodiment preset frequency pattern determination in addition to above description content, in reality
In, other manner can also be used, as long as making it possible to meet adjacent supervisory frame or supervising the frequency hopping between subframe,
It does not limit herein specifically.
705, in the working channel of the communication network between unmanned plane and control terminal, transmitting is utilized on the second frequency point
Device sends supervisory frame or supervision subframe in the timeslice for the preset length being periodically arranged according to preset SDR technical specifications.
It, can be between unmanned plane and control terminal after determining the second frequency point different from the first frequency point in the present embodiment
Communication network working channel in, on the second frequency point using transmitter in the timeslice for the preset length being periodically arranged
Supervisory frame or supervision subframe are sent according to preset SDR technical specifications.
In the present embodiment, in addition to supervisory frame or the corresponding frequency point of supervision subframe determine, other content is referred to Fig. 3 institutes
Show the content that step 304 illustrates in embodiment, details are not described herein again.
Wherein, in multiple working channels of the communication network configuration between unmanned plane and control terminal, it is selected as hair
It, can be according to the second frequency point when sending supervisory frame or supervising the working channel of subframe.
Two, it is sent on default frequency point
Referring to Fig. 8, another embodiment of unmanned aerial vehicle (UAV) control method includes in the embodiment of the present invention：
The step 301 in step 801 to step 802 as shown in figure 3 embodiment in the present embodiment is identical to step 302,
Details are not described herein again.
803, in the working channel of the communication network between unmanned plane and control terminal, using transmitter in default frequency point
On according to preset SDR technical specifications periodically send supervisory frame or supervision subframe.
In the present embodiment, unmanned plane will supervise information configuration into supervisory frame or supervision according to preset SDR technical specifications
After frame, in the working channel of communication network that can be between unmanned plane and control terminal, using transmitter on default frequency point
Supervisory frame or supervision subframe are periodically sent according to preset SDR technical specifications.
Different from the step 304 in embodiment illustrated in fig. 3, the step 304 be the preset length being periodically arranged when
Between send supervisory frame or supervision subframe in piece, in the present embodiment, be on default frequency point according to periodically send supervisory frame or
Subframe is supervised, the length for the timeslice for sending supervisory frame or supervision subframe is not limited, which can be the prison of unmanned plane
Tube apparatus is specified or known frequency point, and supervisory frame or supervision subframe are obtained to be conducive to monitoring equipment.Wherein, in addition to supervisory frame or
Transmission of the subframe on default frequency point is supervised, other communications, such as control terminal can also be carried out between unmanned plane and control terminal
The upstream data of unmanned plane can be utilized to realize the transmission to the control instruction of unmanned plane, then unmanned plane can utilize transmitter
Other frequency points other than default frequency point send other frames or other subframes, i.e., believe in different frequency with other frames or other subframes
It is sent in road, supervisory frame can be prevented or supervises the signal interference between subframe and other frames or other subframes.
In addition to the above, the other content in the present embodiment is referred to step 304 explanation in embodiment illustrated in fig. 3
Partial content, details are not described herein again.
Based on embodiment illustrated in fig. 8, in the present embodiment, different unmanned planes are sent in order to prevent supervisory frame or supervision subframe
It collides, supervisory frame or supervision subframe can be sent on multiple default frequency points, to carry out frequency hopping on optional frequency point, please be joined
Fig. 9 is read, another embodiment of control method includes in the embodiment of the present invention：
The step 301 in step 901 to step 902 as shown in figure 3 embodiment in the present embodiment is identical to step 302,
Details are not described herein again.
903, the second default frequency point different from the first default frequency point is determined in multiple default frequency points；
In the present embodiment, unmanned plane will supervise information configuration into supervisory frame or supervision according to preset SDR technical specifications
After frame, the second default frequency point different from the first default frequency point can be determined in multiple default frequency points.Wherein, the first default frequency
Point is the upper supervisory frame sent or the frequency point of upper supervision subframe.
Specifically, in sending supervisory frame for unmanned plane or supervising the frequency point of subframe, multiple frequency points can be selected advance
It is arranged to multiple default frequency points, so that supervisory frame or supervision subframe can be sent on multiple default frequency points, i.e., sends out each time
The supervisory frame or supervision subframe sent can be preset in some in multiple default frequency points to be selected to send on frequency point, for example, nobody
Machine can select a frequency point hair on 2414.5MHz, 2429.5MHz, 2444.5MHz, this 4 default frequency points of 2459.5MHz
Supervisory frame or supervision subframe are sent, and in order to avoid sub in the corresponding supervisory frame of same frequency point transmissions or supervision with other unmanned planes
Frame leads to the collision between the supervisory frame for causing different unmanned planes to send or supervision subframe, is being ready for sending current supervisory frame
Or when supervision subframe, unmanned plane can first determine a upper supervisory frame or supervise the frequency point of subframe, i.e., the first default frequency point, and can
To determine the second default frequency point different from the first default frequency point in multiple default frequency points.
In practical applications, frequency pattern can be pre-set, so that unmanned plane can be according to preset frequency pattern
The second default frequency point different from the first default frequency point is determined in above-mentioned multiple default frequency points, which can be with
Monitoring equipment for unmanned plane is specified or known frequency pattern, so that monitoring equipment can obtain phase on the frequency point of precognition
Adjacent supervisory frame or supervision subframe.Optionally, which can be randomly provided by above-mentioned multiple default frequency points
It arrives, can also be determined according to the identity code of unmanned plane, in the frequency pattern determined according to the identity code of unmanned plane
Frequency point can be above-mentioned multiple default frequency points.
It is understood that in the present embodiment preset frequency pattern determination in addition to above description content, in reality
In, other manner can also be used, as long as making it possible to meet adjacent supervisory frame or supervising the frequency hopping between subframe,
It does not limit herein specifically.
It should be noted that in the present embodiment, the frequency point in preset frequency pattern can be above-mentioned multiple default frequencies
Whole frequency points in point, or the part frequency point in above-mentioned multiple default frequency points does not limit herein.
904, it in the working channel of the communication network between unmanned plane and control terminal, is utilized on the second default frequency point
Transmitter periodically sends supervisory frame or supervision subframe according to preset SDR technical specifications.
In the present embodiment, after determining the second default frequency point different from the first default frequency point, in unmanned plane and control terminal
Between communication network working channel in, can on the second default frequency point periodically with transmitter send supervisory frame or
Supervise subframe.
Under conditions of default frequency point is determined as the second default frequency point, the particular content in the present embodiment is referred to Fig. 8
The content illustrated in illustrated embodiment, this is repeated no more.
It should be noted that the explanation based on above-described embodiment, in practical applications, shown in embodiment illustrated in fig. 3, Fig. 7
Embodiment can also be used in combination with embodiment illustrated in fig. 8, embodiment illustrated in fig. 9, i.e., in the timeslice of preset length and pre-
If sending supervisory frame or supervision subframe on frequency point, different piece can be cross-referenced or selects application, and details are not described herein again.
The unmanned aerial vehicle (UAV) control method in the embodiment of the present invention is carried out from the angle of unmanned plane or control terminal side above
Description, is below described the unmanned plane monitoring and managing method in the embodiment of the present invention from the angle of monitoring equipment side, please join
Figure 10 is read, unmanned plane monitoring and managing method one embodiment includes in the embodiment of the present invention：
1001, it using the working channel of the communication network between detector scanning unmanned plane and control terminal, obtains from nothing
The data of man-machine transmission；
In the present embodiment, monitoring equipment realizes the supervision to unmanned plane, Ke Yili to obtain the supervision information of unmanned plane
With the working channel of the communication network between detector scanning unmanned plane and control terminal, the number sent from unmanned plane with acquisition
According to.
Specifically, can be equipped with detector on monitoring equipment, what detector can be between unmanned plane and control terminal is logical
Scan round on the working channel of communication network includes by supervision information configuration so that whether sensorcraft sends in working channel
At supervisory frame or supervise subframe data.It is special to the flight control and the flight of unmanned plane of unmanned plane based on control terminal
Point, the communication network between unmanned plane and control terminal can be cordless communication network.In practical applications, for the ease of supervision
Supervision of the equipment to unmanned plane, the communication network between unmanned plane and control terminal can be known to monitoring equipment.Therefore, it supervises
Tube apparatus can be scanned the working channel of known communication network using detector, obtain unmanned plane in the working channel
The data of middle transmission.
It is understood that the communication connection in the present embodiment between unmanned plane and control terminal can be based on SDR technologies,
Monitoring equipment can utilize the working channel of detector scanning unmanned plane and communication network of the control terminal based on SDR technologies,
In practical application, unmanned plane is also based on other communication technologys with control terminal and establishes connection, such as customized modulation system
Or any one mode of communications protocol, it does not limit herein specifically.
1002, supervisory frame or supervision subframe are determined from data using processor；
In the present embodiment, monitoring equipment utilizes the work of the communication network between detector scanning unmanned plane and control terminal
Channel after obtaining the data that unmanned plane is sent, can utilize processor to determine supervisory frame or supervision subframe from data.
Specifically, since supervisory frame or supervision subframe are the frame or subframe that unmanned plane voluntarily creates, send and supervise in unmanned plane
Pipe frame or supervision subframe when, unmanned plane can also realize the transmission of the communication data between control terminal, therefore, at this nobody
In the working channel of machine and the communication network of control terminal, may include other frames in addition to supervisory frame or supervisory frame or other
Subframe, the i.e. data of unmanned plane can be supervisory frame or supervision subframe and other corresponding frames or other subframes, and due to supervision
The supervision information of monitoring equipment needs is just carried in frame or supervision subframe, then monitoring equipment needs to utilize processor from unmanned plane
Supervisory frame or supervision subframe are determined in the data of transmission, to obtain the supervision information of unmanned plane.
1003, the supervision information of unmanned plane is obtained from supervisory frame or supervision subframe using processor.
In the present embodiment, monitoring equipment after determining supervisory frame or supervision subframe in data, can be utilized using processor
Processor demodulates the supervisory frame or supervision subframe of acquisition, to obtain supervisory frame or supervise the supervision of the unmanned plane in subframe
Information to will be seen that the relevant parameter of unmanned plane by the supervision information of the unmanned plane of acquisition, and is realized to unmanned plane
Supervision.
It is understood that in the embodiment of the present invention, based on unmanned plane in the timeslice of preset length and/or default frequency
Supervisory frame is sent on point or supervises the mode of subframe, and monitoring equipment can obtain the supervision letter of unmanned plane based on corresponding mode
Breath, it is specifically described below：
1 is please referred to Fig.1, another embodiment of unmanned plane monitoring and managing method includes in the embodiment of the present invention：
1101, multiple working channels of the communication network between detector scanning unmanned plane and control terminal are utilized；
In the present embodiment, after monitoring equipment is opened, it can utilize logical between detector scanning unmanned plane and control terminal
Multiple working channels of communication network.
Specifically, after unmanned plane and control terminal establish communication connection, corresponding communication network may exist multiple works
Make channel for transmission data between unmanned plane and control terminal, due to unmanned plane be mostly use point-to-point communication, then it is each nobody
Working channel used in machine might have difference, and some specifically used working channel of indefinite unmanned plane, then believes in work
In the case that road number is more, monitoring equipment can be scanned multiple working channels using detector, with by using more
The mode of a receiving channel frequency-division section covering, ensures that capture time meets the requirement of supervision, realizes to one or more unmanned planes
Supervision.In practical applications, monitoring equipment can be different to the scan mode of multiple working channels using detector, specifically such as
Under：
1, multiple working channels of the communication network between a detector wheel scan flow unmanned plane and control terminal are utilized：
Detector there are one being set on monitoring equipment, a detector can carry out scan round in turn to multiple working channels, for example, false
If based on the communication network between unmanned plane and control terminal, multiple working channels that unmanned plane can use be working channel 1,
Working channel 2 and working channel 3, then monitoring equipment can utilize detector successively to working channel 1, working channel 2, work
Make channel 3 and carries out scan round.
2, multiple working channels are distributed into multiple detectors, the work of each scanning predetermined number in multiple detectors
Make channel：Monitoring equipment can be equipped with multiple detectors, each detector can scan the working channel of predetermined number, with reality
Now to the scanning of multiple channels, for example, it is assumed that based on the communication network between unmanned plane and control terminal, unmanned plane can use
Multiple working channels be 10 working channels, have 5 detectors on monitoring equipment, then each detector can take turns respectively
2 working channels of scan flow.It should be noted that in the present embodiment when there are multiple detectors, each detector scanning
The predetermined number of working channel can be inconsistent, a such as detector can take turns 2 working channels of scan flow, another detection
Device can take turns 3 working channels of scan flow, and the present embodiment by way of example only, does not limit herein.
Based on second of scan mode, further, in the present embodiment, multiple detectors can be set to a monitoring equipment
On, multiple detector can be only fitted to different regions, and can be between this multiple detector and the processor of monitoring equipment
By wired or wireless connection, further, multiple detectors can also be set on multiple monitoring equipments, for multiple detections
For device and multiple monitoring equipments, a monitoring equipment can be configured at least one detector, and each monitoring equipment
Configuration supervises unmanned plane to which monitoring equipment can be located in a different geographical location in different regions, for example, supervision
Equipment can be located at restricted area, can also be located at non-restricted area, not limit herein specifically.
In addition, by multiple detector frequency-division sections cover, can not only reduce receive monitoring equipment to contain supervisory frame or
The capture time for supervising the data of subframe, can also realize redundant backup function, wherein the receiving channel damage of a detector
In the case of bad, the receiving channel of remaining detector can be used to realize full frequency band covering, to improve the reliability of monitoring equipment.
Wherein, restricted area is the region for limiting unmanned plane during flying, is specifically referred to existing specification explanation, herein no longer
It repeats.
1102, the data that unmanned plane is sent are obtained；
In the present embodiment, monitoring equipment is multiple using the communication network between detector scanning unmanned plane and control terminal
After working channel, if the data that scanning is sent to unmanned plane, detector can be utilized to obtain the data that unmanned plane is sent.
Specifically, based on the partial content that step 1002 in embodiment illustrated in fig. 10 illustrates, in the data that unmanned plane is sent
In, may include supervisory frame or supervision subframe and other frames in addition to supervisory frame or supervision subframe or other subframes.Its
In, other frames or other subframes can be sent by upstream data, other frames sent by upstream data or other subframes
In include at least to the control instruction of unmanned plane, other frames or other subframes are sent by control terminal, in addition, its
His frame or other subframes can also be sent by downlink data, other frames sent by downlink data or other subframes are at least
Operational data information including unmanned plane, the operational data information can be included at least by the imaging device acquisition on unmanned plane
Image data information, such as by unmanned plane camera shooting photographic intelligence or real-time recording information, other frames or
Other subframes are sent by unmanned plane,.
It is understood that since supervisory frame or supervision subframe can be by unmanned planes in the preset length being periodically arranged
It sends in timeslice and/or is periodically sent on default frequency point, then monitoring equipment can periodically be obtained using detector
The data of unmanned plane are taken, in practical applications, monitoring equipment can also obtain the data of unmanned plane in real time using detector, herein
It does not limit.
Further, supervisory frame or supervision subframe are sent since preset SDR technical specifications standard may be used in unmanned plane,
And it is optional, other frames or other subframes other than supervisory frame or supervision subframe, which can utilize, is different from the preset SDR skills
The SDR technical specifications of art specification are sent, then the working frequency range between supervisory frame or supervision subframe and other frames or other subframes, frequency
One or more in point, modulation system, data format, communication protocol can be different, then monitoring equipment can be according to known
Or specified preset SDR technical specifications obtain supervisory frame or supervision subframe, and can be according to known or specified difference
Supervisory frame is obtained in the SDR technical specifications of the preset SDR technical specifications or supervises other frames or other sons other than subframe
Frame.
Further, since preset SDR technical specifications can be the technical specification based on tdd mode or fdd mode,
Then monitoring equipment can obtain the data of unmanned plane based on tdd mode or fdd mode, i.e., send supervisory frame or prison according to unmanned plane
The mode of pipe frame, the different time-gap in same working channel obtains the data of unmanned plane, or is obtained in different operating channel
The data of unmanned plane.
1103, supervisory frame or supervision subframe are determined from data using at least one reference field；
In the present embodiment, after monitoring equipment gets the data of unmanned plane transmission, at least one reference field can be utilized
Supervisory frame or supervision subframe are determined from data.
Specifically, in the data of unmanned plane, supervisory frame or supervision subframe are what unmanned plane was voluntarily created based on SDR technologies
Frame or subframe, and other frames or other subframes other than supervisory frame or supervision subframe are that original of the unmanned plane based on SDR technologies is wireless
Frame, i.e., normal frame or subframe.Wherein, may include at least one reference field in supervisory frame or supervision subframe, if then
Using this at least one reference field as identifying supervisory frame or supervising the special field of subframe, then monitoring equipment gets unmanned plane
Data after, can according to this at least one reference field from data determine supervisory frame or supervision subframe.
Further, in order to avoid colliding, unmanned plane is when sending supervisory frame or supervision subframe, two neighboring supervision
Transmission frequency point between frame or supervision subframe is inconsistent, then monitoring equipment is obtaining two neighboring supervisory frame or supervision subframe
When, monitoring equipment can utilize detector in working channel where two neighboring supervisory frame or the corresponding transmission frequency point of supervision subframe
Inside be scanned, with obtain the data that the same unmanned plane that is obtained on different frequent points is sent may include two neighboring supervisory frame or
Supervise subframe.Wherein, unmanned plane can send two neighboring supervisory frame or supervision subframe according to preset frequency pattern, this is default
Frequency pattern can be that monitoring equipment is specified or known frequency pattern, to which monitoring equipment is according to a determining upper supervision
Frame supervises the transmission frequency point of subframe and preset frequency pattern, anticipated that next supervisory frame or supervises the transmission of subframe
Frequency point, and the data for including next supervisory frame or supervision subframe can be obtained according to the transmission frequency point of the precognition.
Optionally, preset frequency pattern can be the frequency pattern for being randomized setting in the present embodiment, or root
According to the frequency pattern that the identity code of unmanned plane determines, particular content is referred to the content of above description, no longer superfluous herein
It states.
1104, the data field in supervisory frame or supervision subframe is synchronized according to reference field, from data field
Demodulate supervision information.
In the present embodiment, monitoring equipment determines supervisory frame or supervision subframe using at least one reference field from data
Afterwards, can according to reference field to supervisory frame or supervision subframe in data field to supervisory frame or supervision subframe in data word
Section synchronizes, and supervision information is demodulated from data field.
Specifically, one can also be included at least in addition to including at least one reference field in supervisory frame or supervision subframe
Data field may include supervision information at least one data field.In practical applications, since reference field is with bright
The aobvious feature for being different from data field can not only thereby determine that supervisory frame or prison when monitoring equipment identifies reference field
Pipe frame also completes the synchronization to data field in supervisory frame or supervision subframe, that is, the starting position of data field is determined
And end position, as shown in Figure 4.Therefore, monitoring equipment can correctly be solved according to reference field from supervisory frame or supervision subframe
Go out data field, and the supervision information in data field can be obtained.
It is understood that being inserted in multiple corresponding data fields when supervision information splits into multiple supervision information segments
When middle, multiple supervision information segments can be combined, to obtain completely supervising information.
In practical applications, since supervisory frame or supervision subframe can be by supervision information according to preset SDR technical specifications
It is configured to, then when being demodulated to obtain supervision information to supervisory frame or supervision subframe, monitoring equipment can be according to pre-
If SDR technical specifications to supervisory frame or supervision subframe demodulate, for example, when supervisory frame or supervise subframe in data field
And/or the modulation system of reference field be QPSK when, monitoring equipment can utilize the corresponding demodulation modes of QPSK to data field
It is demodulated, to obtain the supervision information in data field.
In the present embodiment, the supervision information for the unmanned plane that monitoring equipment obtains can include but is not limited to the identity of unmanned plane
Information, location information, flight parameter information, flight attitude information, owner information, time buying information, purchase location information,
History flight path information, hardware configuration information, check bit information and control terminal location information in one kind or more
Kind.By the acquisition to supervising information, monitoring equipment will be seen that the relevant parameter of unmanned plane, be better achieved to unmanned plane
The positioning to unmanned plane may be implemented for example, supervising the location information of unmanned plane in information by acquisition in supervision.
Wherein, identity information can include but is not limited to the type of manufacturer's identifier and unmanned plane；Believe the position of unmanned plane
At least one of location information when breath can include but is not limited to the current location information of unmanned plane, unmanned plane takes off；Fly
Row parameter information can include but is not limited at least one in flight maximum speed, flight maximum height and current flight speed
Kind；Flight attitude information can include but is not limited at least one of roll angle, pitch angle and yaw angle；Hardware configuration information
It can include, but is not limited to the configuration information of the payload of unmanned plane；Check bit information can be the schools cyclic redundancy CRC
Test code；The location information of control terminal can include but is not limited to location information when unmanned plane takes off, determine in control terminal
At least one of the location information of position equipment output.
Further, the explanation based on above-described embodiment optionally can be equipped with display on monitoring equipment, aobvious at this
The supervision information of unmanned plane can be shown by showing on device, intuitively, clearly to embody unmanned plane relevant parameter to supervision user
Information.It is understood that the display mode of supervision information over the display can be various, such as list, do not limit herein specifically
It is fixed.
Further, after monitoring equipment gets supervision information, processor can also be utilized according to supervision information into one
The harmful grade of step assessment unmanned plane, different emergent arrange can be formulated or started according to the harmful grade of unmanned plane
It applies, realizes the differentiation to the unmanned plane of different harmful grades and security control.
Specifically, harmful grade can be used for describing the current safe coefficient of unmanned plane, harmful grade is higher, unmanned plane
Security threat will be bigger.In this implementation, monitoring equipment can utilize processor to determine that the position of the unmanned plane in supervision information is believed
Breath, and the harmful grade of location information assessment unmanned plane can be utilized, for example, processor can be according to the location information of unmanned plane
Further determine that the flight path of unmanned plane, then by the parsing of the flight path to unmanned plane and with preset flight road
The comparison of diameter, it can be determined that whether unmanned plane deviates preset flight path, if departure degree is bigger, harmful grade is higher, again
If processor can carry out unmanned plane according to the location information of unmanned plane the intrusion detection of such as restricted area, if unmanned plane more leans on
Nearly restricted area, harmful grade will be higher.
It should be noted that in the present embodiment, monitoring equipment determines the hazard class of unmanned plane otherwise using processor
In addition to the content of above description, in practical applications, other manner can also be used, as long as the hazard class of unmanned plane can be assessed
Not, such as since detector can be configured at different regions, then processor acquisition can be utilized to detect unmanned plane
The position of detector come determine unmanned plane whether be located at such as illegal operating area, the harmful grade of unmanned plane is assessed with this,
It does not limit herein specifically.
It is understood that in practical applications, it is also provided with the remote supervisory platform communicated to connect with monitoring equipment,
As shown in figure 12, it is assumed that there are unmanned plane 1, unmanned plane 2, unmanned plane 3, corresponding, there may be what is communicated to connect with unmanned plane 1
Control terminal 1, the control terminal 2 communicated to connect with unmanned plane 2, the control terminal 3 communicated to connect with unmanned plane 3, and supervision
The monitoring equipment 1 of unmanned plane 1, the monitoring equipment 2 for supervising unmanned plane 2, the monitoring equipment 3 for supervising unmanned plane 3, then monitoring equipment
1, monitoring equipment 2, monitoring equipment 3 can be connect with remote supervisory Platform communication, which can obtain multiple
The supervision information that monitoring equipment obtains, to realize the turnkey to multiple unmanned planes.Therefore, it is based on embodiment illustrated in fig. 11, is asked
Refering to fig. 13, another embodiment of unmanned plane monitoring and managing method includes in the embodiment of the present invention：
Step 1301 is to step 1304 and the step 1101 in embodiment illustrated in fig. 11 to step 1104 phase in the present embodiment
Together, details are not described herein again.
1305, using processor remote supervisory platform is sent to by information is supervised.
In the present embodiment, the supervision that monitoring equipment demodulates unmanned plane using processor from supervisory frame or supervision subframe is believed
After breath, processor can also be utilized to be sent to remote supervisory platform by information is supervised.
Specifically, monitoring equipment is demodulating supervisory frame or supervision subframe using processor, and obtain supervision information
Afterwards, it can utilize processor that supervision information is further sent to remote supervisory platform, realize that remote supervisory platform sets supervision
Standby unified management, and the remote supervisory to unmanned plane may be implemented.Further, in the present embodiment, in order to reinforce unmanned plane
Supervision information safeguard protection, optionally, unmanned plane can utilize preset encryption rule to the supervision information of unmanned plane into
Row encryption, and can be by encrypted supervision information configuration at supervisory frame or supervision subframe, then when monitoring equipment gets prison
After pipe frame or supervision subframe, if detection supervisory frame or the supervision information supervised in subframe are encryption information, it can utilize default
Decryption rule (preset decryption rule can according to supervision the preset encryption rule of information be configured) to supervise information into
Row decryption, and the supervision information after decryption is sent to remote supervisory platform.
It is understood that being referred to believe with supervision for the preset decryption rule of supervision information in the present embodiment
The corresponding prior art of preset encryption rule is ceased, details are not described herein again.
Above in the embodiment of the present invention unmanned aerial vehicle (UAV) control method and unmanned plane monitoring and managing method be described, below
From the angles of hardware handles in the embodiment of the present invention control device and monitoring equipment be described respectively, please refer to figure
14, control device one embodiment in the embodiment of the present invention includes：
(wherein, the quantity of processor 1402 can be one or more, with one in Figure 14 for transmitter 1401 and processor 1402
For a processor 1402).
Wherein, processor 1402, the supervision information for obtaining unmanned plane, by supervision information configuration at supervisory frame or supervision
Subframe；
Transmitter 1401 is used in the working channel of the communication network between unmanned plane and control terminal, in default length
Supervisory frame or supervision subframe are sent in the timeslice of degree and/or on default frequency point.
Optionally, in some embodiments of the invention, processor 1402 can also be further used for:
Information configuration will be supervised into supervisory frame or supervision subframe according to preset SDR technical specifications；
Optionally, in some embodiments of the invention, transmitter 1401 can also be further used for：
It is sent out according to preset SDR technical specifications in the timeslice of preset length and/or on default frequency point using transmitter
Send supervisory frame or supervision subframe.
Optionally, in some embodiments of the invention, processor 1402 can also be further used for：
The timeslice of preset length is periodically set using processor；
Transmitter 1401 can also be further used for：
Supervisory frame or supervision subframe are sent in the timeslice for the preset length being periodically arranged using transmitter.
Optionally, in some embodiments of the invention, transmitter 1401 can also be further used for：
Other frames or other subframes are sent other than the timeslice of preset length.
Optionally, in some embodiments of the invention, processor 1402 can also be further used for：
Starting position in the timeslice of preset length and/or end position setting protection time slot, wherein protection time slot
For completing to send supervisory frame or supervision subframe using transmitter and sending the switching between other frames or other subframes.
Optionally, in some embodiments of the invention, processor 1401 can also be further used for：
Determine the second frequency point different from the first frequency point；
Transmitter 1401 can also be further used for：Supervision is sent in the timeslice of preset length on the second frequency point
Frame or supervision subframe；
Wherein, the first frequency point is the upper supervisory frame sent or the frequency point of upper supervision subframe.
Optionally, in some embodiments of the invention, transmitter 1401 can also be further used for：
The second frequency point different from the first frequency point is determined according to preset frequency pattern, in preset length on the second frequency point
Timeslice in send supervisory frame or supervision subframe.
Optionally, in some embodiments of the invention, transmitter 1401 can also be further used for：
Supervisory frame or supervision subframe are periodically sent on default frequency point.
Optionally, in some embodiments of the invention, transmitter 1401 can also be further used for：
Other frequency points other than default frequency point send other frames or other subframes.
Optionally, in some embodiments of the invention, transmitter 1401 can also be further used for：
Supervisory frame or supervision subframe are sent on multiple default frequency points.
Optionally, in some embodiments of the invention, processor 1401 can also be further used for：
The second default frequency point different from the first default frequency point is determined in multiple default frequency points；
Transmitter 1401 can also be further used for：
Supervisory frame or supervision subframe are sent on the second default frequency point；
Wherein, the first default frequency point is the upper supervisory frame sent or the frequency point of upper supervision subframe.
Optionally, in some embodiments of the invention, transmitter 1401 can also be further used for：
It is determined in multiple default frequency points according to preset frequency pattern and presets frequency different from the second of the first default frequency point
Point sends supervisory frame or supervision subframe on the second default frequency point.
Optionally, in some embodiments of the invention, processor 1401 can also be further used for：
Supervision information is encrypted according to preset encryption rule, preset encryption rule is the monitoring equipment of unmanned plane
Known encryption rule；
By encrypted supervision information configuration at supervisory frame or supervision subframe.
In the present embodiment, processor 1402 is sub at supervisory frame or supervision by the supervision information configuration of the unmanned plane got
After frame, in the working channel for the communication network that transmitter 1401 can be between unmanned plane and control terminal, in preset length
Supervisory frame or supervision subframe are sent in timeslice and/or on default frequency point, it follows that carrying out software by using SDR technologies
The flexibility of definition creates supervisory frame or supervision subframe, unmanned plane can be overcome to be communicated based on existing SDR technologies changeable
Property and the adverse effect brought, and without increasing hardware cost, you can so that monitoring equipment passes through and obtains transmitter 1401 and send
Supervisory frame or supervision subframe, and obtain the supervision information of unmanned plane, and realize the supervision to unmanned plane.
The embodiment of the present invention also provides a kind of unmanned plane, and wherein unmanned plane includes：
Dynamical system, for providing flying power for unmanned plane；
Control device any one of as described above.
Specifically, the dynamical system of unmanned plane may include：The mechanical, electrical tune of electricity, propeller etc., wherein unmanned plane can also wrap
Include payload, such as imaging device, infrared thermoviewer, wherein payload can be connect by load-bearing part with unmanned plane,
Wherein load-bearing part can be holder.
5 are please referred to Fig.1, monitoring equipment one embodiment in the embodiment of the present invention includes：
(wherein, the quantity of processor 1502 can be one or more, with one in Figure 15 for detector 1501 and processor 1502
For a processor 1502).
Wherein, detector 1501, the working channel for scanning the communication network between unmanned plane and control terminal obtain
The data sent from unmanned plane；
Processor 1502, for determining supervisory frame or supervision subframe from data；It is obtained from supervisory frame or supervision subframe
The supervision information of unmanned plane.
Optionally, in some embodiments of the invention, it supervises in subframe or supervisory frame includes at least one reference word
Section；
Processor 1502 can also be further used for：
Supervisory frame or supervision subframe are determined from data using at least one reference field.
Optionally, in some embodiments of the invention, processor 1502 can also be further used for：
The data field in supervisory frame or supervision subframe is synchronized according to reference field, is demodulated from data field
Supervise information.
Optionally, in some embodiments of the invention, detector 1501 can also be further used for：
Scan multiple working channels of the communication network between unmanned plane and control terminal.
Optionally, in some embodiments of the invention, the number of detector 1501 is one, a detector 1501,
It can also be further used for：
Take turns multiple working channels of the communication network between scan flow unmanned plane and control terminal.
Optionally, in some embodiments of the invention, the number of detector 1501 is multiple, and processor 1502 may be used also
To be further used for：
Multiple working channels are distributed into multiple detectors；
Each detector 1501 in multiple detectors 1501, can also be further used for：
Scan the working channel of predetermined number.
Optionally, in some embodiments of the invention, as shown in figure 16, monitoring equipment can also include display
1503, display 1503 can be used for：
Display supervision information.
Optionally, in some embodiments of the invention, processor 1502 can also be further used for：
Supervision information is sent to remote supervisory platform.
Optionally, in some embodiments of the invention, processor 1502 can also be further used for：
Supervision information is decrypted according to preset decryption rule, the supervision information after decryption is sent to remote supervisory
Platform.
In the present embodiment, monitoring equipment scans the communication network between unmanned plane and control terminal using detector 1501
Working channel is got after the data that unmanned plane is sent, can utilize processor 1502 from data supervisory frame or supervision
In subframe obtain unmanned plane supervision information, compared with the prior art for, monitoring equipment need not utilize processor 1502 to obtaining
The data for the unmanned plane got carry out Brute Force, are also not limited to the changeable SDR technologies that different unmanned planes use, are conducive to
Realize the supervision to unmanned plane.
It is appreciated that the present invention can also relate to a kind of supervisory systems, including unmanned plane, the control end with UAV Communication
The monitoring equipment of end and supervision unmanned plane can also include optionally the remote supervisory platform communicated with monitoring equipment.Its
In, control terminal can be used for sending control instruction to unmanned plane, and unmanned plane can be controlled according to the control instruction received to fly
Row, monitoring equipment can be used for obtaining the communication data between unmanned plane and control terminal, to realize the supervision to unmanned plane, far
Journey supervising platform then can be used for managing one or more monitoring equipments, and remote supervisory one or more unmanned plane.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of division of logic function, formula that in actual implementation, there may be another division manner, such as multiple units or component
It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be the indirect coupling by some interfaces, device or unit
It closes or communicates to connect, can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, you can be located at a place, or may be distributed over multiple
In network element.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
It is that each unit physically exists alone, it can also be during two or more units be integrated in one unit.Above-mentioned integrated list
The form that hardware had both may be used in member is realized, can also be realized in the form of SFU software functional unit.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can be stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or the network equipment etc.) executes the complete of each embodiment the method for the present invention
Portion or part steps.And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, RandomAccess Memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to before
Stating embodiment, invention is explained in detail, it will be understood by those of ordinary skill in the art that：It still can be to preceding
The technical solution recorded in each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
Modification or replacement, the spirit and scope for various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution.
Claims (101)
1. a kind of unmanned aerial vehicle (UAV) control method, which is characterized in that including：
The supervision information for obtaining unmanned plane, using processor by the supervision information configuration at supervisory frame or supervision subframe；
In the working channel of communication network between the unmanned plane and control terminal, using transmitter preset length when
Between send the supervisory frame or the supervision subframe in piece and/or on default frequency point.
2. according to the method described in claim 1, it is characterized in that, it is described by the supervision information configuration at supervisory frame or supervision
Subframe includes:
According to preset SDR technical specifications by the supervision information configuration at supervisory frame or supervision subframe；
3. method according to claim 1 or 2, which is characterized in that it is described using transmitter preset length timeslice
The supervisory frame is sent on interior and/or default frequency point or the supervision subframe includes：
Using transmitter institute is sent according to preset SDR technical specifications in the timeslice of preset length and/or on default frequency point
State supervisory frame or the supervision subframe.
4. according to the method in any one of claims 1 to 3, which is characterized in that the preset SDR technical specifications are served as reasons
The monitoring equipment of the unmanned plane is specified or the monitoring equipment of the unmanned plane known to technical specification.
5. method according to any one of claim 2 to 4, which is characterized in that the preset SDR technical specifications are base
In the technical specification of tdd mode or fdd mode.
6. the method according to any one of claims 1 to 5, it is characterized in that, the supervisory frame or the supervision subframe
Including at least one data field, at least one data field includes the supervision information.
7. according to the method described in claim 6, it is characterized in that, the supervisory frame or the supervision subframe further include at least one
It is a to be used for the reference field synchronous with the monitoring equipment of unmanned plane progress data.
8. the method described according to claim 6 or 7, which is characterized in that the data field and/or the tune of the reference field
Mode processed is quadrature phase shift keying QPSK.
9. method according to any one of claim 1 to 8, which is characterized in that described to utilize transmitter in preset length
Timeslice in transmitting supervisory frame or the supervision subframe include：
The timeslice of preset length is periodically set using processor；
The supervisory frame or supervision are sent in the timeslice for the preset length being periodically arranged using transmitter
Frame.
10. according to the method described in claim 9, it is characterized in that, the length satisfaction of the timeslice of the preset length is default
Length requirement.
11. to go the method described in 10 according to right, which is characterized in that the length of the timeslice of the preset length meets default
Length requirement includes：
The configuration period of the timeslice of preset length is greater than or equal to pre- with the ratio of the length of the timeslice of the preset length
If threshold value.
12. method according to any one of claim 1 to 11, which is characterized in that the method further includes：
Other frames or other subframes are sent other than the timeslice of the preset length using the transmitter.
13. according to the method for claim 12, which is characterized in that the method further includes：
Starting position in the timeslice of the preset length and/or end position setting protection time slot, wherein the protection
Time slot is for completing to send supervisory frame or supervision subframe and sending the switching between other frames or other subframes.
14. method according to any one of claim 1 to 13, which is characterized in that described to be grown default using transmitter
Emit the supervisory frame in the timeslice of degree or the supervision subframe includes：
It determines the second frequency point different from the first frequency point, utilizes transmitter in the timeslice of preset length on second frequency point
The interior transmission supervisory frame or the supervision subframe；
Wherein, first frequency point is the upper supervisory frame sent or the frequency point of upper supervision subframe.
15. according to the method for claim 14, which is characterized in that the determination is different from the second frequency point of the first frequency point,
The supervisory frame or the supervision subframe packet are sent in the timeslice of preset length using transmitter on second frequency point
It includes：
The second frequency point different from the first frequency point is determined according to preset frequency pattern, and transmitter is utilized on second frequency point
The supervisory frame or the supervision subframe are sent in the timeslice of preset length.
16. method according to any one of claim 1 to 8, which is characterized in that described to utilize transmitter in default frequency point
The upper transmission supervisory frame or the supervision subframe include：
Using transmitter the supervisory frame or the supervision subframe are periodically sent on default frequency point.
17. according to the method described in claim 1 to 8, any one of 16, which is characterized in that the method further includes：
Other frames or other subframes are sent using other frequency points of the transmitter other than the default frequency point.
18. the method according to any one of claim 1 to 8,16 to 17, which is characterized in that described to be existed using transmitter
The supervisory frame is sent on default frequency point or the supervision subframe includes：
The supervisory frame or the supervision subframe are sent on multiple default frequency points using transmitter.
19. according to the method for claim 18, which is characterized in that described to be sent on multiple default frequency points using transmitter
Supervisory frame or supervision subframe include：
The second default frequency point different from the first default frequency point is determined in multiple default frequency points, in the described second default frequency
On point the supervisory frame or the supervision subframe are sent using transmitter；
Wherein, the described first default frequency point is the upper supervisory frame sent or the frequency point of upper supervision subframe.
20. according to the method for claim 19, which is characterized in that the determination in multiple default frequency points is different from
Second default frequency point of the first default frequency point sends the supervisory frame or described on the described second default frequency point using transmitter
Supervising subframe includes：
Determine that be different from the described first default frequency point second is pre- in multiple default frequency points according to preset frequency pattern
If frequency point, the supervisory frame or the supervision subframe are sent using transmitter on the described second default frequency point.
21. the method according to claim 12 or 17, which is characterized in that other described frames or other subframes include work
Data information.
22. according to claim 21, which is characterized in that operational data information is included at least and adopted by unmanned plane imaging device
The image data information of collection.
23. according to the method described in any one of claim 12 or 17 or 21 to 22, which is characterized in that the supervisory frame or institute
It states one or more different from described in the working frequency range for supervising subframe, frequency point, modulation system, data format, communication protocol
Other frames or other described subframes.
24. the method according to claim 15 or 20, which is characterized in that the preset frequency pattern is that randomization is arranged
Frequency pattern.
25. the method according to claim 15 or 20, which is characterized in that the preset frequency pattern is according to the nothing
The frequency pattern that man-machine identity code determines.
26. the method according to any one of claim 1 to 25, which is characterized in that the method further includes：
The supervision information is encrypted according to preset encryption rule using the processor, the preset encryption rule
Encryption rule known to monitoring equipment for the unmanned plane；
Wherein, described to include at supervisory frame or supervision subframe by the supervision information configuration：
By the encrypted supervision information configuration at supervisory frame or supervision subframe.
27. the method according to any one of claim 1 to 26, which is characterized in that the supervision information includes the nothing
Man-machine identity information, location information, flight parameter information, flight attitude information, owner information, time buying information, purchase
Buy the position letter of location information, history flight path information, hardware configuration information, check bit information and the control terminal
It is one or more in breath.
28. according to the method for claim 27, which is characterized in that the identity information includes manufacturer's identifier and the nothing
Man-machine type；
Position letter when the location information of the unmanned plane includes the current location information of the unmanned plane, the unmanned plane takes off
At least one of breath；
The flight parameter information includes at least one of flight maximum speed, flight maximum height and current flight speed；
The flight attitude information includes at least one of roll angle, pitch angle and yaw angle；
The hardware configuration information includes at least the configuration information of the payload of the unmanned plane；
The check bit information is cyclic redundancy cyclic redundancy check；
The location information of the control terminal includes the location information when unmanned plane takes off, the positioning in the control terminal
At least one of the location information of equipment output.
29. a kind of unmanned plane monitoring and managing method, which is characterized in that including：
Using the working channel of the communication network between detector scanning unmanned plane and control terminal, obtains and sent out from the unmanned plane
The data sent；
Supervisory frame or supervision subframe are determined from the data using processor；
The supervision information of the unmanned plane is obtained from the supervisory frame or supervision subframe using the processor.
30. according to the method for claim 29, which is characterized in that the supervisory frame or supervision subframe are pressed for the unmanned plane
It is sent according to SDR technical specifications.
31. the method according to claim 29 or 30, which is characterized in that the supervisory frame or supervision subframe include at least one
A data field, at least one data field include the supervision information.
32. according to the method for claim 31, which is characterized in that in the supervision subframe or supervisory frame includes at least one
A reference field；
It is described to determine that supervisory frame or supervision subframe include from the data using processor：
Supervisory frame or supervision subframe are determined from the data using at least one reference field.
33. wanting 32 to seek the method according to right, which is characterized in that
The supervision packet for obtaining the unmanned plane from the supervisory frame or the supervision subframe using processor
It includes：
The data field in the supervisory frame or the supervision subframe is synchronized according to the reference field, from the data
The supervision information is demodulated in field.
34. the method according to claim 32 or 33, which is characterized in that the data field and/or the reference field
Modulation system be quadrature phase shift keying QPSK.
35. the method according to any one of claim 29 to 34, which is characterized in that further include except described in the data
Other frames other than supervisory frame or the supervision subframe or other subframes.
36. according to the method for claim 35, which is characterized in that other described frames or other described subframes include work
Data information.
37. according to the method for claim 36, which is characterized in that the operational data information is included at least by unmanned plane
Imaging device acquisition image data information.
38. the method according to any one of claim 35 to 37, which is characterized in that the supervisory frame or supervision
One or more in the working frequency range of frame, frequency point, modulation system, data format, communication protocol be different from other described frames or
Other described subframes.
39. the method according to any one of claim 29 to 38, which is characterized in that two neighboring supervisory frame or supervision
Frame is that the unmanned plane is sent on different frequency points.
40. according to the method for claim 39, which is characterized in that the two neighboring supervisory frame or supervision subframe be described
Unmanned plane is sent on different frequency points：
Two neighboring supervisory frame or supervision subframe are that the unmanned plane is sent according to preset frequency pattern frequency hopping.
41. according to the method for claim 40, which is characterized in that the preset frequency pattern is the jump of randomization setting
Frequency pattern.
42. according to the method for claim 40, which is characterized in that the preset frequency pattern is the body according to unmanned plane
The frequency pattern that part identification code determines.
43. the method according to any one of claim 29 to 42, which is characterized in that it is described using detector scanning nobody
The working channel of communication network between machine and control terminal includes：
Utilize multiple working channels of the communication network between detector scanning unmanned plane and control terminal.
44. according to the method for claim 43, which is characterized in that the number of the detector is one, described to utilize spy
The multiple working channels of communication network surveyed between device scanning unmanned plane and control terminal include：
Utilize multiple working channels of the communication network between a detector wheel scan flow unmanned plane and control terminal.
45. according to the method for claim 43, which is characterized in that the number of the detector is multiple, and described utilize is visited
The multiple working channels of communication network surveyed between device scanning unmanned plane and control terminal include：
The multiple working channel is distributed into multiple detectors, default of each scanning in multiple detectors
Several working channels.
46. the method according to any one of claim 29 to 45, which is characterized in that the method further includes,
Show the supervision information.
47. the method according to any one of claim 29 to 46, which is characterized in that the method further includes：
The supervision information is sent to remote supervisory platform using the processor.
48. according to the method for claim 47, which is characterized in that described to be sent out the supervision information using the processor
It send to remote supervisory platform and includes：
Supervision information is decrypted according to preset decryption rule using the processor, the supervision information after decryption is sent
To remote supervisory platform.
49. the method according to any one of claim 29 to 48, which is characterized in that the supervision information includes the nothing
Man-machine identity information, location information, flight parameter information, flight attitude information, owner information, time buying information, purchase
Buy the position letter of location information, history flight path information, hardware configuration information, check bit information and the control terminal
It is one or more in breath.
50. according to the method for claim 49, which is characterized in that the identity information includes manufacturer's identifier and/or nothing
Man-machine type；
The location information include in location information when the current location information of the unmanned plane, the unmanned plane take off extremely
Few one kind；
The flight parameter information includes at least one of flight maximum speed, flight maximum height and current flight speed；
The flight attitude information includes at least one of roll angle, pitch angle and yaw angle；
The hardware configuration information includes at least the configuration information of the payload of the unmanned plane；
The check bit information is cyclic redundancy cyclic redundancy check；
The location information of the control terminal includes the location information when unmanned plane takes off, the positioning in the control terminal
At least one of the location information of equipment output.
51. a kind of control device, which is characterized in that including：
Processor, the supervision information for obtaining unmanned plane, by the supervision information configuration at supervisory frame or supervision subframe；
Transmitter is used in the working channel of the communication network between the unmanned plane and control terminal, in preset length
The supervisory frame or the supervision subframe are sent in timeslice and/or on default frequency point.
52. control device according to claim 51, which is characterized in that the processor is additionally operable to:
According to preset SDR technical specifications by the supervision information configuration at supervisory frame or supervision subframe；
53. the control device according to claim 51 or 52, which is characterized in that the transmitter is additionally operable to：
In the timeslice of preset length and/or on default frequency point according to preset SDR technical specifications send the supervisory frame or
The supervision subframe.
54. the control device according to any one of claim 51 to 53, which is characterized in that the preset SDR technologies
Specification be by the unmanned plane monitoring equipment is specified or the monitoring equipment of the unmanned plane known to technical specification.
55. the control device according to any one of claim 52 to 54, which is characterized in that the preset SDR technologies
Specification is the technical specification based on tdd mode or fdd mode.
56. the control device according to any one of claim 51 to 55, which is characterized in that the supervisory frame or the prison
Pipe frame includes at least one data field, and at least one data field includes the supervision information.
57. control device according to claim 56, which is characterized in that the supervisory frame or the supervision subframe further include
It is at least one to be used for the reference field synchronous with the monitoring equipment of unmanned plane progress data.
58. the control device according to claim 56 or 57, which is characterized in that the data field and/or the reference
The modulation system of field is quadrature phase shift keying QPSK.
59. the control device according to any one of claim 51 to 58, which is characterized in that the processor is additionally operable to：
The timeslice of preset length is periodically set using processor；
The transmitter, is additionally operable to：
The supervisory frame or the supervision subframe are sent in the timeslice for the preset length being periodically arranged.
60. control device according to claim 59, which is characterized in that the length of the timeslice of the preset length meets
The requirement of preset length.
61. to remove the control device described in 60 according to right, which is characterized in that the length of the timeslice of the preset length meets
Preset length requires to include：
The period that the timeslice of preset length is arranged and the ratio of the preset length are greater than or equal to preset threshold value.
62. the control device according to any one of claim 51 to 61, which is characterized in that the transmitter is additionally operable to：
Other frames or other subframes are sent other than the timeslice of the preset length.
63. control device according to claim 62, which is characterized in that the processor is additionally operable to：
Starting position in the timeslice of the preset length and/or end position setting protection time slot, wherein the protection
Time slot is used to complete to send supervisory frame or supervision subframe using the transmitter and sends cutting between other frames or other subframes
It changes.
64. the control device according to any one of claim 51 to 63, which is characterized in that the processor is additionally operable to：
Determine the second frequency point different from the first frequency point；
The transmitter, is additionally operable to：
The supervisory frame or the supervision subframe are sent in the timeslice of preset length on second frequency point；
Wherein, first frequency point is the upper supervisory frame sent or the frequency point of upper supervision subframe.
65. control device according to claim 64, which is characterized in that the transmitter is additionally operable to：
The second frequency point different from the first frequency point is determined according to preset frequency pattern, in preset length on second frequency point
Timeslice in send the supervisory frame or the supervision subframe.
66. the control device according to any one of claim 51 to 58, which is characterized in that the transmitter is additionally operable to：
The supervisory frame or the supervision subframe are periodically sent on default frequency point.
67. according to the control device described in claim 51 to 58, any one of 66, which is characterized in that the transmitter is also used
In：
Other frequency points other than the default frequency point send other frames or other subframes.
68. the control device according to any one of claim 51 to 58,66 to 67, which is characterized in that the transmitter,
It is additionally operable to：
The supervisory frame or the supervision subframe are sent on multiple default frequency points.
69. control device according to claim 68, which is characterized in that the processor is additionally operable to：
The second default frequency point different from the first default frequency point is determined in multiple default frequency points,
The transmitter, is additionally operable to：
The supervisory frame or the supervision subframe are sent on the described second default frequency point；
Wherein, the described first default frequency point is the upper supervisory frame sent or the frequency point of upper supervision subframe.
70. control device according to claim 69, which is characterized in that the processor is additionally operable to：
Determine that be different from the described first default frequency point second is pre- in multiple default frequency points according to preset frequency pattern
If frequency point.
71. the control device according to claim 62 or 67, which is characterized in that other described frames or other subframes include
Operational data information.
72. control device according to claim 71, which is characterized in that operational data information include at least by unmanned plane at
The image data information acquired as device.
73. according to the control device described in any one of claim 62 or 67 or 71 to 72, which is characterized in that the supervisory frame
Or one or more in the supervision working frequency range of subframe, frequency point, modulation system, data format, communication protocol are different from
Other described frames or other described subframes.
74. the method according to claim 65 or 70, which is characterized in that the preset frequency pattern is that randomization is arranged
Frequency pattern.
75. the control device according to claim 65 or 70, which is characterized in that the preset frequency pattern is according to institute
State the frequency pattern that the identity code of unmanned plane determines.
76. the control device according to any one of claim 51 to 75, which is characterized in that the processor is additionally operable to：
The supervision information is encrypted according to preset encryption rule, the preset encryption rule is the unmanned plane
Encryption rule known to monitoring equipment；
By the encrypted supervision information configuration at supervisory frame or supervision subframe.
77. the control device according to any one of claim 51 to 76, which is characterized in that the supervision information includes institute
State identity information, location information, flight parameter information, flight attitude information, owner information, the time buying letter of unmanned plane
The position of breath, purchase location information, history flight path information, hardware configuration information, check bit information and the control terminal
It is one or more in confidence breath.
78. according to the control device described in claim 77, which is characterized in that the identity information includes manufacturer's identifier and institute
State the type of unmanned plane；
Position letter when the location information of the unmanned plane includes the current location information of the unmanned plane, the unmanned plane takes off
At least one of breath；
The flight parameter information includes at least one of flight maximum speed, flight maximum height and current flight speed；
The flight attitude information includes at least one of roll angle, pitch angle and yaw angle；
The hardware configuration information includes at least the configuration information of the payload of the unmanned plane；
The check bit information is cyclic redundancy cyclic redundancy check；
The location information of the control terminal includes the location information when unmanned plane takes off, the positioning in the control terminal
At least one of the location information of equipment output.
79. a kind of monitoring equipment, which is characterized in that including：
Detector, the working channel for scanning the communication network between unmanned plane and control terminal are obtained from the unmanned plane
The data of transmission；
Processor, for determining supervisory frame or supervision subframe from the data；It is obtained from the supervisory frame or supervision subframe
The supervision information of the unmanned plane.
80. according to the monitoring equipment described in claim 79, which is characterized in that the supervisory frame or supervision subframe be it is described nobody
Machine is sent according to SDR technical specifications.
81. the monitoring equipment according to claim 79 or 80, which is characterized in that the supervisory frame or supervision subframe are including extremely
Few one data word section, at least one data field includes the supervision information.
82. according to the monitoring equipment described in claim 81, which is characterized in that in the supervision subframe or supervisory frame include to
A few reference field；
The processor, is additionally operable to：
Supervisory frame or supervision subframe are determined from the data using at least one reference field.
83. wanting 82 to seek the monitoring equipment according to right, which is characterized in that the processor is additionally operable to：
The data field in the supervisory frame or the supervision subframe is synchronized according to the reference field, from the data
The supervision information is demodulated in field.
84. the monitoring equipment according to claim 82 or 83, which is characterized in that the data field and/or the reference
The modulation system of field is quadrature phase shift keying QPSK.
85. the monitoring equipment according to any one of claim 79 to 84, which is characterized in that further include removing in the data
Other frames other than the supervisory frame or the supervision subframe or other subframes.
86. according to the monitoring equipment described in claim 85, which is characterized in that other described frames or other described subframes include
Operational data information.
87. according to the monitoring equipment described in claim 86, which is characterized in that the operational data information is included at least by nobody
The image data information of imaging device acquisition on machine.
88. the monitoring equipment according to any one of claim 85 to 87, which is characterized in that the supervisory frame or the prison
One or more in the working frequency range of pipe frame, frequency point, modulation system, data format, communication protocol be different from it is described other
Frame or other described subframes.
89. the monitoring equipment according to any one of claim 79 to 88, which is characterized in that two neighboring supervisory frame or prison
Pipe frame is that the unmanned plane is sent on different frequency points.
90. according to the monitoring equipment described in claim 89, which is characterized in that the two neighboring supervisory frame or supervision subframe are
The unmanned plane is sent on different frequency points：
Two neighboring supervisory frame or supervision subframe are that the unmanned plane is sent according to preset frequency pattern frequency hopping.
91. according to the monitoring equipment described in claim 90, which is characterized in that the preset frequency pattern is that randomization is arranged
Frequency pattern.
92. according to the monitoring equipment described in claim 90, which is characterized in that the preset frequency pattern is according to unmanned plane
Identity code determine frequency pattern.
93. the monitoring equipment according to any one of claim 79 to 92, which is characterized in that the detector is additionally operable to：
Scan multiple working channels of the communication network between unmanned plane and control terminal.
94. according to the monitoring equipment described in claim 93, which is characterized in that the number of the detector is one, an institute
Detector is stated, is additionally operable to：
Take turns multiple working channels of the communication network between scan flow unmanned plane and control terminal.
95. according to the monitoring equipment described in claim 93, which is characterized in that the number of the detector is multiple, the place
Reason device is additionally operable to：
The multiple working channel is distributed into multiple detectors；
Each described detector in multiple detectors, is additionally operable to：
Scan the working channel of predetermined number.
96. the monitoring equipment according to any one of claim 79 to 95, which is characterized in that the monitoring equipment further includes
Display, the display, is used for：
Show the supervision information.
97. the monitoring equipment according to any one of claim 79 to 96, which is characterized in that the processor is additionally operable to：
The supervision information is sent to remote supervisory platform.
98. according to the monitoring equipment described in claim 97, which is characterized in that the processor will be described, be additionally operable to：
Supervision information is decrypted according to preset decryption rule, the supervision information after decryption, which is sent to remote supervisory, puts down
Platform.
99. the monitoring equipment according to any one of claim 79 to 98, which is characterized in that the supervision information includes institute
State identity information, location information, flight parameter information, flight attitude information, owner information, the time buying letter of unmanned plane
The position of breath, purchase location information, history flight path information, hardware configuration information, check bit information and the control terminal
It is one or more in confidence breath.
100. according to the monitoring equipment described in claim 99, which is characterized in that the identity information include manufacturer's identifier and/
Or the type of unmanned plane；
The location information include in location information when the current location information of the unmanned plane, the unmanned plane take off extremely
Few one kind；
The flight parameter information includes at least one of flight maximum speed, flight maximum height and current flight speed；
The flight attitude information includes at least one of roll angle, pitch angle and yaw angle；
The hardware configuration information includes at least the configuration information of the payload of the unmanned plane；
The check bit information is cyclic redundancy cyclic redundancy check；
The location information of the control terminal includes the location information when unmanned plane takes off, the positioning in the control terminal
At least one of the location information of equipment output.
101. a kind of unmanned plane, it is characterised in that it includes：
Dynamical system, for providing flying power for unmanned plane；
Control device as described in any one of claim 51 to 78.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/077530 WO2018170736A1 (en) | 2017-03-21 | 2017-03-21 | Unmanned aerial vehicle control method and device, and unmanned aerial vehicle supervision method and device |
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| WO (1) | WO2018170736A1 (en) |
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| WO2018170736A1 (en) | 2018-09-27 |
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