CN108808243A - Adjust the method, apparatus and unmanned machine system of antenna - Google Patents
Adjust the method, apparatus and unmanned machine system of antenna Download PDFInfo
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- CN108808243A CN108808243A CN201810619669.7A CN201810619669A CN108808243A CN 108808243 A CN108808243 A CN 108808243A CN 201810619669 A CN201810619669 A CN 201810619669A CN 108808243 A CN108808243 A CN 108808243A
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- antenna
- location information
- unmanned machine
- remote controler
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
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Abstract
The present invention provides a kind of method, apparatus and unmanned machine system of adjustment antenna；Wherein, this method is applied to remote controler or unmanned machine, and remote controler and unmanned machine communicate to connect, the opposite equipment of remote controler and unmanned machine phase other side each other；This method includes：The location information of the opposite equipment of acquisition；According to the correspondence of location information and optimal antenna position, the optimal antenna position to match with location information is determined；According to optimal antenna position, the position of own antenna is adjusted.The present invention can be with the aerial position of adjust automatically remote controler or unmanned machine, and tested rotating platform accuracy is higher, and simple and convenient.
Description
Technical field
The present invention relates to unmanned machine technical fields, are set with nobody more particularly, to a kind of method, apparatus of adjustment antenna
Standby system.
Background technology
When using remote control control unmanned plane, unmanned boat or other unmanned machines, remote controler often will appear " distant user
Control signal it is weak, antenna please be adjust " relevant information prompt, usually can only hand since user is difficult to know accurate aerial position
It is dynamic to attempt to adjust antenna to all directions angle, but this mode is not easy to find the suitable position of antenna, it is inconvenient for operation, and adjust
Whole precision is poor.
Invention content
In view of this, the purpose of the present invention is to provide a kind of method, apparatus and unmanned machine system of adjustment antenna, with
Realize the aerial position of adjust automatically remote controler or unmanned machine.
In a first aspect, an embodiment of the present invention provides it is a kind of adjustment antenna method, method be applied to remote controler or nobody
Equipment, remote controler and unmanned machine communicate to connect, the opposite equipment of remote controler and unmanned machine phase other side each other；Method includes：
The location information of the opposite equipment of acquisition；According to the correspondence of location information and optimal antenna position, determine and location information phase
Matched optimal antenna position；According to optimal antenna position, the position of own antenna is adjusted.
Further, the step of location information of above-mentioned acquisition opposite direction equipment includes：The absolute position of the opposite equipment of acquisition；
Absolute position includes the longitude and latitude and/or height of opposite equipment；Acquire the absolute position of own antenna；According to opposite equipment and certainly
The absolute position of body antenna obtains the relative position of opposite equipment, using relative position as the location information of opposite equipment.
Further, the correspondence of above-mentioned location information and optimal antenna position, is obtained by following manner：Obtain day
The antenna radiation pattern of each aerial angle of line；It is preserved in antenna radiation pattern under current antenna angle, radiation intensity and direction
Correspondence；It extracts under each aerial angle, radiation intensity is more than the direction scope of setting radiation threshold value；By direction scope and right
The aerial angle answered saves as location information and the correspondence of optimal antenna position.
Further, the above-mentioned correspondence according to location information and optimal antenna position determines and location information phase
The step of optimal antenna position matched, including：The direction scope residing for opposite equipment is determined according to location information；From location information
Aerial angle corresponding with search direction range in the correspondence of optimal antenna position, the aerial angle found is determined as
Optimal antenna position.
Further, above-mentioned according to optimal antenna position, the step of adjusting the position of own antenna, including：When opposite direction is set
It is standby when being unmanned machine, antenna on rotation remote controler to aerial angle, or rotation remote controler to aerial angle；When opposite direction is set
When for being remote controler, the antenna on the heading or rotation unmanned machine of unmanned machine is adjusted, so that the antenna on remote controler
To aerial angle.
Second aspect, an embodiment of the present invention provides it is a kind of adjustment antenna device, device be set to remote controler or nobody
Equipment, remote controler and unmanned machine communicate to connect, the opposite equipment of remote controler and unmanned machine phase other side each other；Device includes：
Information acquisition module, the location information for acquiring opposite equipment；Optimal antenna position determining module, for according to location information
With the correspondence of optimal antenna position, the optimal antenna position to match with location information is determined；Position adjusting type modules are used for
According to optimal antenna position, the position of own antenna is adjusted.
Further, above- mentioned information acquisition module is additionally operable to：The absolute position of the opposite equipment of acquisition；Absolute position includes pair
To the longitude and latitude and/or height of equipment；Acquire the absolute position of own antenna；According to the absolute position of opposite equipment and own antenna
It sets, obtains the relative position of opposite equipment, using relative position as the location information of opposite equipment.
Further, the correspondence of above-mentioned location information and optimal antenna position, is obtained by following manner：Obtain day
The antenna radiation pattern of each aerial angle of line；It is preserved in antenna radiation pattern under current antenna angle, radiation intensity and direction
Correspondence；It extracts under each aerial angle, radiation intensity is more than the direction scope of setting radiation threshold value；By direction scope and right
The aerial angle answered saves as location information and the correspondence of optimal antenna position.
The third aspect, an embodiment of the present invention provides a kind of unmanned machine system, rigid system includes remote controler and nobody sets
It is standby；Above-mentioned tested rotating platform device is set in remote controler or unmanned machine.
Further, above-mentioned unmanned machine includes unmanned plane or unmanned boat.
The embodiment of the present invention brings following advantageous effect：
The present invention provides a kind of method, apparatus and unmanned machine system of adjustment antenna, collect the position of opposite equipment
After confidence breath, according to the correspondence of location information and optimal antenna position, the best day to match with the location information is determined
Line position adjusts the position of own antenna further according to the optimal antenna position determined.Which can be with adjust automatically remote controler
Or the aerial position of unmanned machine, tested rotating platform accuracy is higher, and simple and convenient.
Other features and advantages of the present invention will illustrate in the following description, alternatively, Partial Feature and advantage can be with
Deduce from specification or unambiguously determine, or by implement the present invention above-mentioned technology it can be learnt that.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, better embodiment cited below particularly, and match
Appended attached drawing is closed, is described in detail below.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in being described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, other drawings may also be obtained based on these drawings.
Fig. 1 is a kind of method flow diagram of adjustment antenna provided in an embodiment of the present invention；
Fig. 2 is another method flow diagram for adjusting antenna provided in an embodiment of the present invention；
Fig. 3 is a kind of schematic diagram of antenna radiation pattern provided in an embodiment of the present invention；
Fig. 4 is another method flow diagram for adjusting antenna provided in an embodiment of the present invention；
Fig. 5 is a kind of apparatus structure schematic diagram of adjustment antenna provided in an embodiment of the present invention；
Fig. 6 is a kind of structural schematic diagram of unmanned machine system provided in an embodiment of the present invention.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, shall fall within the protection scope of the present invention.
In view of the problem of existing mode for manually adjusting aerial position is cumbersome and adjustment poor accuracy, the present invention
Embodiment provides a kind of method, apparatus and unmanned machine system of adjustment antenna, which can be applied to unmanned plane, unmanned boat
Or in other unmanned machines, which may be used relevant software or hardware realization, is described below by embodiment.
A kind of flow chart of the method for adjustment antenna shown in Figure 1；This method is applied to remote controler or unmanned machine,
Remote controler and unmanned machine communicate to connect, the opposite equipment of remote controler and unmanned machine phase other side each other；This method includes as follows
Step：
Step S102 acquires the location information of opposite equipment；
The location information is usually to exchange the influential geographical location information of line all day, for example, latitude and longitude information, height are believed
Breath etc.；Specifically, when unmanned machine is unmanned boat, unmanned vehicle, which generally includes latitude and longitude information, when nobody
When equipment is unmanned plane, which generally includes latitude and longitude information and elevation information.Pass through latitude and longitude information, elevation information
Deng the relative position information for obtaining opposite equipment relative to current device can be calculated, for example, relative distance, direction, relatively high
Degree etc..Above-mentioned geographical location information can be collected by equipment such as linear displacement transducer, angular displacement sensors.
Step S104 is determined and is matched with location information according to the correspondence of location information and optimal antenna position
Optimal antenna position；
User can pre-set location information and pair of optimal antenna position according to the radiation diagram of antenna on current device
It should be related to, after current device obtains the location information of opposite equipment, directly search the correspondence and can be obtained optimal antenna position
It sets.Specifically, when object-based device is located at the directions A of current device, for example, the directions A are 45 degree of north by east；By searching for upper
Correspondence is stated, can know that the corresponding optimal antenna position in the directions A is the directions B, for example, the directions B are：The angle of opposite X-axis
Degree is x degree, and the angle of opposite Y-axis is y degree, and the angle of opposite Z axis is z degree；Wherein, the coordinate system of X, Y, Z axis can be according to working as
The relative position of antenna in preceding equipment and current device ontology and be arranged.After the optimal antenna position determines, current device can
To send out text prompt and light prompt, to prompt user.
Step S106 adjusts the position of own antenna according to optimal antenna position.
The adjustment of the own antenna position can be realized by cpu chip, electric machine controller and motor；The cpu chip
Can be DSP (Digital Signal Processing, Digital Signal Processing) chip, singlechip chip, FPGA (Field-
Programmable Gate Array, field programmable gate array) chip, CPLD (Complex Programmable Logic
Device, Complex Programmable Logic Devices) chip etc..After cpu chip determines optimal antenna position, sent out to electric machine controller
Corresponding control command, so that motor movement, to drive antenna to rotate to the optimal antenna position.
The present invention provides a kind of methods of adjustment antenna, by the location information for acquiring opposite equipment；Believed according to position
The correspondence of breath and optimal antenna position determines the optimal antenna position to match with location information；According to optimal antenna position
It sets, adjusts the position of own antenna.This method can be with the aerial position of adjust automatically remote controler or unmanned machine, tested rotating platform essence
Exactness is higher, and simple and convenient.
The method that the embodiment of the present invention additionally provides another adjustment antenna, as shown in Figure 2；This method is shown in Fig. 1
It is realized on the basis of method；In this method, location information and optimal antenna position are obtained by step S202 to S206 first
Correspondence；This method specifically comprises the following steps：
Step S202 obtains the antenna radiation pattern of each aerial angle of antenna；
In general, each aerial angle of antenna corresponds to an antenna radiation pattern；It is preserved in the antenna radiation pattern and works as the day before yesterday
Under line angle degree, the correspondence of radiation intensity and direction；Specifically, being preserved in the antenna radiation pattern apart from one spacing of antenna
From place, the relative field strength (relative field strength can be normalization modulus value) of radiation field is with the rule of direction change；Fig. 3 show day
The schematic diagram of beta radiation figure；The antenna radiation pattern is that a kind of figure to antenna radiation characteristics describes method, and radiation intensity can be with
It is represented by gray scale or color, such as：Color illustrates that the radiation intensity of the position is stronger more deeply, the shallower spoke for illustrating the position of color
It is weaker to penetrate intensity.
Step S204 is extracted under each aerial angle, and radiation intensity is more than the direction scope of setting radiation threshold value；
The shape of antenna can be fan type, and the radiating surface of the signal of antenna transmitting at this time is covering of the fan；The shape of antenna can also
For TV tower, radiation signal around.The size of above-mentioned direction scope specifically can be according to antenna mechanical property and user
Actual demand setting；It is appreciated that direction scope is bigger, the average value of radiation intensity is smaller in direction scope, final adjustment
The corresponding radiation signal average value of aerial position arrived is also just smaller；Therefore, if the angle granularity that can adjust of the antenna compared with
Carefully, gear is more, even if disclosure satisfy that most of opposite device location letter if the direction scope of each aerial angle setting very little
Cease corresponding tested rotating platform demand；Meanwhile the corresponding radiation signal average value of aerial position that final adjustment arrives is larger.
If the angle granularity that the antenna can be adjusted compared with thick, gear is less, at this time if need each aerial angle to set
Larger direction scope, to meet the corresponding tested rotating platform demand of most of opposite device location information；But what final adjustment arrived
The corresponding radiation signal average value of aerial position can be smaller.
Above-mentioned direction scope and corresponding aerial angle are saved as location information and optimal antenna position by step S206
Correspondence.
Step S208 acquires the location information of opposite equipment；
Step S210 determines the direction scope residing for opposite equipment according to the location information；
Step S212 searches the corresponding antenna of direction range in the correspondence from location information with optimal antenna position
The aerial angle found is determined as optimal antenna position by angle.
Step S214 adjusts the position of own antenna according to the optimal antenna position.
In aforesaid way, from being extracted in antenna radiation pattern under each aerial angle, radiation intensity is more than setting radiation threshold value
Direction scope, and direction range and corresponding aerial angle are saved as into location information pass corresponding with optimal antenna position
System；After collecting the location information of opposite equipment, optimal antenna position is determined further according to the correspondence, so as to adjust itself
The position of antenna.Which can be with the aerial position of adjust automatically remote controler or unmanned machine, and tested rotating platform accuracy is higher, and
It is simple and convenient.
The method that the embodiment of the present invention additionally provides another adjustment antenna, as shown in figure 4, this method is in Fig. 1 and Fig. 2 institutes
Show and realizes on the basis of method；It in this method, is illustrated so that current device is remote controler as an example, i.e., opposite equipment sets for nobody
It is standby；This method comprises the following steps：
Step S302 acquires the absolute position of opposite equipment；The absolute position includes the longitude and latitude and/or height of opposite equipment
Degree；When object-based device is unmanned plane, which generally includes the longitude and latitude and height of opposite equipment simultaneously, or only includes
Highly；When object-based device is unmanned boat or unmanned vehicle, which includes normally only longitude and latitude.
Opposite equipment can send its absolute position actively to current device in real time or periodically；Object-based device can also be
After the position acquisition instruction for receiving current device transmission, then to current device send its absolute position.
Step S304 acquires the absolute position of own antenna；
When current device is remote controler, user is generally in ground controlling remote controler, the absolute position of own antenna at this time
Generally include longitude and latitude；If current device is unmanned plane or user manipulates remote controler in skyscraper, aircraft, at this time
The absolute position of own antenna generally includes longitude and latitude and height.
Step S306 obtains the relative position of opposite equipment according to the absolute position of opposite equipment and own antenna, by this
Location information of the relative position as opposite equipment.
In specific implementation, by calculating the difference of opposite both equipment and own antenna absolute position, obtains object and set
Standby relative position, for example, the longitude and latitude of opposite equipment subtracts the longitude and latitude of own antenna, (calculation can be vector meter
Calculate), obtain the horizontal direction that object-based device is located at current device；For another example, the height of opposite equipment subtracts the height of own antenna,
Relative altitude of the object-based device relative to current device is obtained, further according to horizontal direction and relative altitude, obtains opposite equipment
Final direction.
Step S308 determines the direction scope residing for opposite equipment according to the location information；
Step S310 searches the corresponding antenna of direction range in the correspondence from location information with optimal antenna position
Angle；
Step S312, rotation remote controler is to above-mentioned aerial angle, alternatively, antenna on rotation remote controler is to above-mentioned antenna angle
Degree.
In addition, when opposite equipment is remote controler, it is above-mentioned according to optimal antenna position, adjust the step of the position of own antenna
Suddenly, it can also be accomplished in the following manner：The antenna on the heading or the rotation unmanned machine of unmanned machine is adjusted, with
Make antenna on the remote controler to the aerial angle.
Aforesaid way obtains the relative position of opposite equipment by the absolute position of opposite equipment and own antenna；According to
After above-mentioned correspondence determines optimal antenna position, by rotating antenna or adjusting device head on remote controler or remote controler,
It can be by tested rotating platform to optimal antenna position.Which can be with the aerial position of adjust automatically remote controler or unmanned machine, day
It is higher and simple and convenient that line adjusts accuracy.
Corresponding to above method embodiment, the structural schematic diagram of the device of adjustment antenna shown in Figure 5；The device is set
It is placed in remote controler or unmanned machine, remote controler and unmanned machine communicate to connect, remote controler and unmanned machine phase other side each other
Opposite equipment；Unmanned machine includes unmanned plane or unmanned boat equipment includes：
Information acquisition module 50, the location information for acquiring opposite equipment；
Optimal antenna position determining module 51 is determined for the correspondence according to location information and optimal antenna position
The optimal antenna position to match with location information；
Position adjusting type modules 52, for according to optimal antenna position, adjusting the position of own antenna.The position adjusts mould
Block connects the ad/da converter in remote controler, and the transformation of information command is realized by analog-to-digital conversion, realizes the automatic tune of antenna
It is whole.
Above- mentioned information acquisition module is additionally operable to：The absolute position of the opposite equipment of acquisition；Absolute position includes opposite equipment
Longitude and latitude and/or height；Acquire the absolute position of own antenna；According to the absolute position of opposite equipment and own antenna, obtain
The relative position of opposite equipment, using relative position as the location information of opposite equipment.
The correspondence of above-mentioned location information and optimal antenna position, is obtained by following manner：Obtain each of antenna
The antenna radiation pattern of aerial angle；It is preserved in antenna radiation pattern under current antenna angle, radiation intensity is corresponding with direction to close
System；It extracts under each aerial angle, radiation intensity is more than the direction scope of setting radiation threshold value；By direction scope and corresponding antenna
Angle saves as location information and the correspondence of optimal antenna position.
The device of adjustment antenna provided in an embodiment of the present invention, can be with the antenna position of adjust automatically remote controler or unmanned machine
It sets, tested rotating platform accuracy is higher, and simple and convenient.
The embodiment of the present invention additionally provides a kind of unmanned machine system, as shown in fig. 6, the system includes remote controler 60 and nothing
People's equipment 61.It is communicated to connect between the remote controler 60 and unmanned machine 61.The device of above-mentioned adjustment antenna be set to remote controler or
In unmanned machine.The unmanned machine can be unmanned plane, unmanned boat or unmanned vehicle.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description
And/or the specific work process of device, it can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
Remote controler, unmanned machine and its system provided in an embodiment of the present invention, the adjustment antenna provided with above-described embodiment
Method and apparatus technical characteristic having the same reach identical technique effect so can also solve identical technical problem.
The computer program production of the method, apparatus and unmanned machine system of the adjustment antenna that the embodiment of the present invention is provided
Product, including the computer readable storage medium of program code is stored, before the instruction that said program code includes can be used for execution
Method described in the embodiment of the method for face, specific implementation can be found in embodiment of the method, and details are not described herein.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be expressed in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic disc or CD.
Finally it should be noted that：Embodiment described above, only specific implementation mode of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, it will be understood by those of ordinary skill in the art that：Any one skilled in the art
In the technical scope disclosed by the present invention, it can still modify to the technical solution recorded in previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention, should all cover the protection in the present invention
Within the scope of.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of method of adjustment antenna, which is characterized in that the method is applied to remote controler or unmanned machine, the remote controler
It is communicated to connect with the unmanned machine, the opposite equipment of the remote controler and the unmanned machine phase other side each other；The method
Including：
The location information of the opposite equipment of acquisition；
According to the correspondence of location information and optimal antenna position, the optimal antenna position to match with the location information is determined
It sets；
According to the optimal antenna position, the position of own antenna is adjusted.
2. according to the method described in claim 1, it is characterized in that, the step of the location information of the opposite equipment of acquisition, packet
It includes：
Acquire the absolute position of the opposite equipment；The absolute position includes the longitude and latitude and/or height of the opposite equipment；
Acquire the absolute position of own antenna；
According to the absolute position of the opposite equipment and the own antenna, the relative position of the opposite equipment is obtained, by institute
State location information of the relative position as the opposite equipment.
3. according to the method described in claim 1, it is characterized in that, location information pass corresponding with optimal antenna position
System, is obtained by following manner：
Obtain the antenna radiation pattern of each aerial angle of the antenna；Current antenna angle is preserved in the antenna radiation pattern
Under, the correspondence of radiation intensity and direction；
It extracts under each aerial angle, the radiation intensity is more than the direction scope of setting radiation threshold value；
The direction scope and corresponding aerial angle are saved as into location information and the correspondence of optimal antenna position.
4. according to the method described in claim 3, it is characterized in that, described corresponding with optimal antenna position according to location information
The step of relationship, the determining optimal antenna position to match with the location information, including：
The direction scope residing for the opposite equipment is determined according to the positional information；
The corresponding aerial angle of the direction scope is searched in correspondence from location information with optimal antenna position, will be searched
To the aerial angle be determined as optimal antenna position.
5. according to the method described in claim 4, it is characterized in that, described according to the optimal antenna position, itself day is adjusted
The step of position of line, including：
When the opposite equipment is unmanned machine, the day on rotation remote controler to the aerial angle, or rotation remote controler
Line is to the aerial angle；
When the opposite equipment is remote controler, the day on the heading or the rotation unmanned machine of unmanned machine is adjusted
Line, so that antenna on the remote controler is to the aerial angle.
6. a kind of device of adjustment antenna, which is characterized in that described device is set to remote controler or unmanned machine, the remote controler
It is communicated to connect with the unmanned machine, the opposite equipment of the remote controler and the unmanned machine phase other side each other；Described device
Including：
Information acquisition module, the location information for acquiring opposite equipment；
Optimal antenna position determining module, for according to the correspondence of location information and optimal antenna position, determine with it is described
The optimal antenna position that location information matches；
Position adjusting type modules, for according to the optimal antenna position, adjusting the position of own antenna.
7. device according to claim 6, which is characterized in that described information acquisition module is additionally operable to：
Acquire the absolute position of the opposite equipment；The absolute position includes the longitude and latitude and/or height of the opposite equipment；
Acquire the absolute position of own antenna；
According to the absolute position of the opposite equipment and the own antenna, the relative position of the opposite equipment is obtained, by institute
State location information of the relative position as the opposite equipment.
8. device according to claim 6, which is characterized in that the location information is corresponding with optimal antenna position to close
System, is obtained by following manner：
Obtain the antenna radiation pattern of each aerial angle of the antenna；Current antenna angle is preserved in the antenna radiation pattern
Under, the correspondence of radiation intensity and direction；
It extracts under each aerial angle, the radiation intensity is more than the direction scope of setting radiation threshold value；
The direction scope and corresponding aerial angle are saved as into location information and the correspondence of optimal antenna position.
9. a kind of unmanned machine system, which is characterized in that the system comprises remote controlers and unmanned machine；
Claim 6 to 8 any one of them device is set in the remote controler or the unmanned machine.
10. system according to claim 9, which is characterized in that the unmanned machine includes unmanned plane or unmanned boat.
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| CN110312071A (en) * | 2019-04-30 | 2019-10-08 | 中国联合网络通信集团有限公司 | The control method and unmanned plane of unmanned plane |
| CN110366242A (en) * | 2019-07-11 | 2019-10-22 | 华为技术有限公司 | A kind of method of adjustment and outdoor network equipment of outdoor network equipment |
| CN110635831A (en) * | 2019-09-30 | 2019-12-31 | 北京信成未来科技有限公司 | FDMA-based unmanned aerial vehicle measurement and control cellular communication method |
| CN111276818A (en) * | 2020-04-14 | 2020-06-12 | 深圳市威富通讯技术有限公司 | Control device and control method for aligning antenna to target position |
| CN111885254A (en) * | 2020-06-30 | 2020-11-03 | 达闼机器人有限公司 | Method and device for adjusting angle of terminal equipment, storage medium and terminal equipment |
| CN112204492A (en) * | 2019-08-30 | 2021-01-08 | 深圳市大疆创新科技有限公司 | Method, device and system for adjusting antenna direction |
| CN112492514A (en) * | 2019-10-16 | 2021-03-12 | 广东美嘉欣创新科技股份有限公司 | Flight data and image transmission device capable of expanding controllable range of unmanned aerial vehicle |
| WO2022077210A1 (en) * | 2020-10-13 | 2022-04-21 | 深圳市大疆创新科技有限公司 | Remote control processing method for a mobile platform, control apparatus, and control device |
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