CN113805600A - Unmanned aerial vehicle rocker control system, equipment and medium based on 5G transmission - Google Patents
Unmanned aerial vehicle rocker control system, equipment and medium based on 5G transmission Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Abstract
The invention discloses an unmanned aerial vehicle rocker control system based on 5G transmission, which comprises the following modules: the potential reading module reads potentiometer data by utilizing various sensors; the environment detection module is used for detecting environment data through various sensors of the unmanned aerial vehicle and displaying the environment data in a list mode; the instruction analysis module is used for making corresponding multiple instructions by operating a preset computer program; the wireless transmission module transmits the instruction to a receiving control system of the unmanned aerial vehicle through 5G, so that the unmanned aerial vehicle can make corresponding actions according to a plurality of instructions; and the performance verification module is used for establishing a proportional risk regression model for evaluating the performance improvement of different control system components of the unmanned aerial vehicle and the follow-up troubleshooting of the control system components. According to the invention, through 5G transmission, multiple instructions are processed quickly and in batch, the pictures are transmitted stably and in real time, the performance of the unmanned aerial vehicle can be evaluated and troubleshooting can be carried out, the requirement of a user on high-definition pictures is met, and meanwhile, the risk of remote runaway of the unmanned aerial vehicle is avoided.
Description
Technical Field
The invention relates to the field of artificial intelligence, in particular to a rocker control system, equipment and a medium of an unmanned aerial vehicle based on 5G transmission.
Background
Unmanned aerial vehicle is called unmanned aerial vehicle entirely, and in present big data era, unmanned aerial vehicle can be applied to a plurality of technical field, such as agronomy, medical science, architecture etc.. Wherein, unmanned aerial vehicle is mostly replacing the human beings to carry out some detection works, and in the work of surveying, unmanned aerial vehicle is inside can carry out a series of program operation, realizes the instruction afterwards and transmits the picture for us.
However, the conventional unmanned aerial vehicle mostly adopts 4G signals, and when the unmanned aerial vehicle is used for a particularly remote detection work, the image data cannot be obtained in real time, so that misjudgment is easily caused to the unmanned aerial vehicle instruction, and meanwhile, the transmitted image becomes discontinuous due to instability of the 4G signals; and in flight process, need consider sleet weather to unmanned aerial vehicle's influence, in time plan the route that gos forward well, so, how to utilize unmanned aerial vehicle rocker device to transmit unmanned aerial vehicle picture and instruction data high-efficiently in real time becomes a problem that awaits a urgent need to be solved.
Disclosure of Invention
In view of the above, the invention provides a rocker control system, equipment and a medium of an unmanned aerial vehicle based on 5G transmission, and aims to solve the problem that in the prior art, due to the fact that the environment is severe in rainy and snowy weather, signals are unstable and are in a long distance, and dynamic route planning cannot be performed efficiently in real time. According to the invention, through 5G transmission, multiple instructions are processed rapidly and in batch, pictures are transmitted stably and in real time, a forward route is planned dynamically, and the performance of the unmanned aerial vehicle can be evaluated and troubleshooting can be carried out.
The technical scheme of the invention is realized as follows:
in a first aspect, the invention provides an unmanned aerial vehicle rocker control system based on 5G transmission, which comprises the following modules:
the potential reading module is used for reading potentiometer data by utilizing various sensors when receiving a direction instruction sent by a user through a remote lever;
the environment detection module is used for transmitting and receiving environment data detected by various sensors of the unmanned aerial vehicle through 5G and presenting the environment data in a list mode;
the command analysis module is used for carrying out attitude control and dynamically planning a flight path by operating a preset computer program after reading the potentiometer data and the environment data, and making corresponding multiple commands;
and the wireless transmission module is used for transmitting the instruction to the unmanned aerial vehicle through 5G, so that the unmanned aerial vehicle can make corresponding actions according to the plurality of instructions.
Preferably, in the electric potential reading module, the potentiometer data includes resistance data, voltage data, input frequency data, electric load data, pulse period data, and the like.
Preferably, in the environment detection module, the environment data includes geomagnetic data, atmospheric pressure data, temperature data, humidity data, topographic data, and the like.
Further preferably, in the process of reading the potentiometer data by using the sensor, a kalman filtering algorithm is adopted to denoise the potentiometer data.
On the basis of the above technical solution, it is further preferable that in the instruction parsing module, the computer program includes a four-axis PID algorithm, a path planning algorithm, and a C + + language, where the four-axis PID algorithm implements control over four axes of the unmanned aerial vehicle by calculating environmental data and potentiometer data, the path planning algorithm performs real-time and dynamic flight path planning based on the environmental data and the potentiometer data, and the C + + language is used as a programming language to output a corresponding instruction.
Preferably, the path planning algorithm is used for planning the traveling path of the next area by adopting a rolling planning algorithm according to the environment data and the potential data; and an environment model is constructed through environment data and used for evaluating the risk of the next area, so that whether the unmanned aerial vehicle moves to the next area is determined.
Specifically, the four-axis PID algorithm specifically includes the following units:
the proportional control unit is used for stopping when the proportional relation reaches a preset value;
the integral control unit is used for pushing the control quantity of the PID controller to increase when the proportional relation is near a preset value and does not reach the preset value, the influence of the integral term on the deviation depends on the integral of time, and the integral term can increase along with the increase of the time;
the differential control unit is used for predicting the trend of error change, and when the proportional relation is about to reach a preset value, the differential term can gradually reduce the control quantity of the PID controller to accurately reach the preset value;
and the integral separation compensation unit is used for canceling the integral action when the deviation is larger than a specified threshold value, so that the integral is not too large, the control quantity is not easy to enter a saturation region, and the control quantity can be quickly exited even if the control quantity enters the saturation region.
Preferably, the unmanned aerial vehicle rocker control system based on 5G transmission further comprises a performance verification module, and the performance verification module is used for establishing a proportional risk regression model according to potentiometer data, evaluating performance improvement of different components in a potentiometer of the unmanned aerial vehicle rocker control system and performing subsequent troubleshooting on the components.
Preferably, in the performance verification module, in the process of establishing a proportional risk regression model according to potentiometer data, the potentiometer data are normalized, an ROC curve is drawn, and the ROC curve is compared with the performance of different components in the potentiometer of the unmanned aerial vehicle rocker control system in a standard state.
In a second aspect, the invention provides an apparatus comprising: the control system comprises a memory, a processor and a program required by the unmanned aerial vehicle rocker control system based on 5G transmission, wherein the program required by the unmanned aerial vehicle rocker control system based on 5G transmission is stored in the memory and can run on the processor, and the program required by the unmanned aerial vehicle rocker control system based on 5G transmission is configured to realize the functions of the modules and units of the unmanned aerial vehicle rocker control system based on 5G transmission.
In a third aspect, the present invention provides a medium, where the medium is a computer medium, and a program required by a 5G transmission-based unmanned aerial vehicle joystick control system is stored on the computer medium, and when the program required by the 5G transmission-based unmanned aerial vehicle joystick control system is executed by a processor, the functions of the modules and units of the 5G transmission-based unmanned aerial vehicle joystick control system are implemented as described in the first aspect.
Compared with the prior art, the unmanned aerial vehicle rocker control system, the unmanned aerial vehicle rocker control equipment and the unmanned aerial vehicle rocker control medium based on 5G transmission have the following beneficial effects:
(1) compared with the traditional 4G signal, the method has the advantages that in the data transmission process under single frequency, the blocking caused by large data volume is avoided, the low time delay is realized, and the real-time performance of environment detection is ensured;
(2) in the wireless transmission module, 5G transmission is also adopted, compared with the traditional 4G signal, the method can carry out batch processing on a plurality of instructions and make corresponding actions based on real-time pictures, so that the condition that the unmanned aerial vehicle is out of control in a complex terrain is avoided;
(3) in the instruction analysis module, the acquired data is transmitted through 5G, and the dynamic planning of an optimal route is performed on the unmanned aerial vehicle in severe environments such as rainy and snowy weather, so that the safety of the unmanned aerial vehicle in the flight process and the high efficiency of aerial operation are ensured;
(4) according to the method, a proportional risk regression model is established according to potentiometer data, so that a group of linear regression equations which can be used for estimation and prediction are obtained through analysis and calculation, a standard value is given through the method, comparison and analysis can be conveniently carried out on the standard value after an experimental value is obtained, and the method is used for evaluating performance improvement of different control system components of the unmanned aerial vehicle and follow-up troubleshooting of the control system components.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of an apparatus in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a structural diagram of a rocker control system of an unmanned aerial vehicle based on 5G transmission;
fig. 3 is a schematic diagram of a unit structure of a four-axis PID algorithm in the command parsing module 30 according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
As shown in fig. 1, the apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the device, and that in actual implementations the device may include more or less components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a program required by the drone joystick control system based on 5G transmission.
In the device shown in fig. 1, the network interface 1004 is mainly used for establishing a communication connection between the device and a server storing all data required in a 5G transmission-based drone joystick control system; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 of the device can be arranged in an unmanned aerial vehicle rocker device based on 5G transmission, the unmanned aerial vehicle rocker device based on 5G transmission calls a program required by an unmanned aerial vehicle rocker control system based on 5G transmission stored in the memory 1005 through the processor 1001, and the module and unit functions of the unmanned aerial vehicle rocker control system based on 5G transmission provided by the invention are executed.
As shown in fig. 2, the invention is an unmanned aerial vehicle rocker control system based on 5G transmission, comprising the following modules: the system comprises a potential reading module 10, an environment detection module 20, an instruction analysis module 30, a wireless transmission module 40 and a performance verification module 50.
For the purpose of better understanding the objects, technical solutions and advantages of the present invention, the following detailed description of the present invention is provided in conjunction with the accompanying drawings and embodiments, it being understood that the specific embodiments described herein are only for the purpose of explaining the present invention and are not intended to limit the present invention.
The invention provides a specific embodiment of an unmanned aerial vehicle rocker control system based on 5G transmission, and the following is the specific content of the embodiment.
And the potential reading module 10 is used for reading potentiometer data by utilizing various sensors when receiving a direction instruction sent by a user through a remote lever.
Specifically, in the potential reading module 10, the potentiometer data includes resistance data, voltage data, input frequency data, electrical load data, pulse period data, and the like.
It should be understood that the Arduino board is adopted in this embodiment, the rocker control system of the unmanned aerial vehicle mainly comprises two potentiometers and a key switch, three axes XYZ are used for controlling the attitude of the unmanned aerial vehicle, wherein the two potentiometers are used for outputting voltage values of an X axis and a Y axis along with the torsion angle of the rocker so as to obtain voltage data, and the Z axis is used for controlling the flying height of the unmanned aerial vehicle; when reading the resistance data, the X axis and the Y axis are analog input signals, the Z axis is a digital input signal, so that the data of the resistance is mapped in a program mode by the analog input signal only by grounding the potentiometer, and the numerical value ranges from 0 to 1023.
Preferably, in the process of reading the potentiometer data by using the sensor, the kalman filtering algorithm is adopted to denoise the potentiometer data, so as to perform the optimal estimation effect on multiple sets of potentiometer data, and the filtered potentiometer data is applied to the subsequent instruction analysis module 30 and the performance verification module 50.
And the environment detection module 20 is used for receiving environment data detected by various sensors of the unmanned aerial vehicle through 5G transmission and presenting the environment data in a list mode.
Specifically, in the environment detection module 20, the environment data includes geomagnetic data, atmospheric pressure data, temperature data, humidity data, topographic data, and the like.
It needs to be understood that the unmanned aerial vehicle is inevitably influenced by multiple factors of the surrounding environment when operating in the actual air, so that environment data detection is indispensable for ensuring the safety of the unmanned aerial vehicle; the unmanned aerial vehicle rocker control system needs to be provided with various sensors, including but not limited to (1) an acceleration sensor for detecting the vector direction of gravity G; (2) the gyroscope sensor is used for detecting the real-time angular speed of the unmanned aerial vehicle; (3) the magnetic field sensor and the atmospheric pressure sensor detect geomagnetic data and real-time atmospheric pressure data.
Preferably, the 5G transmission is applied to the environment detection module 20 because, during actual aerial operation, long-distance detection often occurs, or detection to an extremely deep position in a cave, and in the case of the 4G signal, because the signal is far less stable than the 5G signal and the signal wide-area coverage rate is insufficient, there is a risk that the unmanned aerial vehicle is out of control, and unnecessary loss and trouble are brought to detection work.
And the instruction analysis module 30 is configured to perform attitude control and dynamically plan a flight path by operating a preset computer program after reading the potentiometer data and the environment data, and make a plurality of corresponding instructions.
Specifically, in the instruction parsing module 30, the computer program includes a four-axis PID algorithm, a path planning algorithm, and a C + + language, the four-axis PID algorithm implements control of four axes of the unmanned aerial vehicle by calculating environment data and potentiometer data, the path planning algorithm performs real-time and dynamic flight path planning based on the environment data and the potentiometer data, and the C + + language is used as a programming language to output corresponding instructions.
As shown in fig. 3, the four-axis PID algorithm specifically includes the following units:
the proportional control unit is used for stopping when the proportional relation reaches a preset value;
the integral control unit is used for pushing the control quantity of the PID controller to increase when the proportional relation is near a preset value and does not reach the preset value, the influence of the integral term on the deviation depends on the integral of time, and the integral term can increase along with the increase of the time;
the differential control unit is used for predicting the trend of error change, and when the proportional relation is about to reach a preset value, the differential term can gradually reduce the control quantity of the PID controller to accurately reach the preset value;
and the integral separation compensation unit is used for canceling the integral action when the deviation is larger than a specified threshold value, so that the integral is not too large, the control quantity is not easy to enter a saturation region, and the control quantity can be quickly exited even if the control quantity enters the saturation region.
It is to be understood that the acceleration data can be measured in the gravity direction, and an absolute reference object outside the system, namely a gravity axis, can accurately output the attitude angles of the ROLL/PITCH two axes under the condition of no external acceleration; the geomagnetic data can provide course angle, pitch angle and roll angle of the moving object by giving geomagnetic force projections on an X axis, a Y axis and a Z axis, so that the angle required by the posture of the object can be determined; the resistance data and the current data may control the current flowing into the motor by a control signal provided by the flight controller to determine the rotational speed of the controller.
Further, the rotating speed and the angular speed required by the controller are determined according to the acceleration data, the magnetic field data, the resistance data and the current data and other data which are not listed, and the attitude of the unmanned aerial vehicle can be controlled through a PID algorithm.
It should be understood that the specific steps of the path planning algorithm are as follows: the unmanned aerial vehicle needs to plan a route according to different weather conditions and avoid an area with severe weather in time, and further, a rolling planning algorithm is needed to be used in the invention: firstly, judging whether the unmanned aerial vehicle can carry out flight operation or not artificially according to terrain data, and then establishing an environment model according to detected wind direction data, rain and snow weather data and the like, wherein the set environment model comprises weather data in a known area and the like; after the environment model is established, the optimal path of the next area is drawn by adopting a dynamic window rule, and the specific steps are as follows: taking the environment model as an optimized window, on the basis, acquiring multiple groups of data of the speed data set in the current state, simulating the tracks of the speeds within a certain time, wherein the speed only comprises angular speed and linear speed, evaluating each track, selecting the speed corresponding to the optimal track, rolling forwards, and moving to a new area; according to the local optimal trajectory, after the unmanned aerial vehicle arrives at a new region, the unmanned aerial vehicle can detect new unknown information, and at the moment, the original environment model can be supplemented or corrected according to new information detected by the unmanned aerial vehicle in the flight process, so that the new unknown information can be used for next local planning after rolling.
Preferably, the environment model is an advanced research WRF (advanced research meteorological prediction model) and consists of a flux-form completely compressible and non-static euler control equation, an Arakawa-C grid is adopted in the horizontal direction, the two-way nesting is realized, a terrain following static air pressure vertical coordinate, also called a mass vertical coordinate, is adopted in the vertical direction, a 2-order or 3-order Runge-Kutta integration scheme is adopted in time integration, and a 5-order or 6-order advection scheme is adopted in the horizontal and vertical directions; the environment model is used for predicting the weather change condition in the next area, and according to different weather conditions, the risk of the next area is evaluated, so that whether the unmanned aerial vehicle is determined to move to the next area or not is determined.
It should be understood that the data used for the vertical coordinates of the mass in the environmental model is not limited to the terrain data and the atmospheric pressure data described above.
Still further preferably, the C + + programming language may be used to output a corresponding instruction after the route is planned, so as to implement automatic aerial operation of the unmanned aerial vehicle according to the flight route.
And the wireless transmission module 40 is used for transmitting the instruction to the unmanned aerial vehicle through 5G, so that the unmanned aerial vehicle can make corresponding actions according to the plurality of instructions.
It is to be understood that 5G realizes fast transmission of high data volume for transmitting multiple channels of instructions made by a program; 5G, the identification of high flow density is realized, and the method is used for continuously identifying and displaying the pictures detected by the unmanned aerial vehicle; and 5G, issuing a low-delay instruction, and efficiently carrying out batch processing on a plurality of instructions in real time based on information displayed on a picture.
And the performance verification module 50 is used for establishing a proportional risk regression model according to the potentiometer data, evaluating the performance improvement of different components in the potentiometer of the rocker control system of the unmanned aerial vehicle and performing subsequent troubleshooting on the components.
Preferably, in the performance verification module 50, in the process of establishing a proportional risk regression model according to the potentiometer data, the potentiometer data is normalized, an ROC curve is drawn, and the ROC curve is compared with the performance of different components in the potentiometer of the unmanned aerial vehicle rocker control system in a standard state.
It should be understood that, since the components in the rocker control system of the unmanned aerial vehicle are mainly examined, and environmental factors cannot be changed, only the potentiometer data in the potential reading module 10 is needed, the potentiometer data is firstly normalized, specifically, the potentiometer data is changed into decimal between (0, 1), then the abscissa is used as time, the ordinate is used as potentiometer data, an ROC curve is drawn, and finally the ROC curve is fitted with the performance curve of the unmanned aerial vehicle in a standard state, and each ROC curve is marked with different colors for representing and distinguishing; by the method, parts can be checked for the unmanned aerial vehicle remote control system at intervals, and curves under 4G signals and 5G signals can be recorded and fitted at the same time, so that the performance improvement of the unmanned aerial vehicle rocker control system based on 5G transmission can be evaluated.
In a word, 5G transmission is adopted, compared with the traditional 4G signal, the method has the characteristics of no blockage caused by large data volume in the data transmission process under single frequency and low time delay, and the real-time performance of environment detection is ensured; the multiple instructions can be processed in batch, corresponding actions are performed based on real-time pictures, and the situation that the unmanned aerial vehicle is out of control in a complex terrain is avoided; the acquired data are transmitted through 5G, and an optimal route is dynamically planned for the unmanned aerial vehicle in severe environments such as rainy and snowy weather, so that the safety of the unmanned aerial vehicle in the flight process and the high efficiency of aerial operation are ensured; the method provides a standard value, facilitates comparison and analysis with the standard value after obtaining an experimental value, and is used for evaluating performance improvement of different control system components of the unmanned aerial vehicle and follow-up troubleshooting of the control system components.
Those not described in detail in this specification, such as mathematical formulas used in various algorithms, are well known in the art.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The utility model provides an unmanned aerial vehicle rocker control system based on 5G transmission which characterized in that: the system comprises the following modules:
the potential reading module is used for reading potentiometer data by utilizing various sensors when receiving a direction instruction sent by a user through a remote lever;
the environment detection module is used for transmitting and receiving environment data detected by various sensors of the unmanned aerial vehicle through 5G and presenting the environment data in a list mode;
the command analysis module is used for carrying out attitude control and dynamically planning a flight path by operating a preset computer program after reading the potentiometer data and the environment data, and making corresponding multiple commands;
and the wireless transmission module is used for transmitting the instruction to the unmanned aerial vehicle through 5G, so that the unmanned aerial vehicle can make corresponding actions according to the plurality of instructions.
2. The unmanned aerial vehicle rocker control system based on 5G transmission of claim 1, characterized in that: in the potential reading module, the potentiometer data includes, but is not limited to, resistance data, voltage data, input frequency data, electrical load data and pulse period data.
3. The unmanned aerial vehicle rocker control system based on 5G transmission of claim 1, characterized in that: in the environment detection module, the environment data includes, but is not limited to, geomagnetic data, atmospheric pressure data, temperature data, humidity data, and topographic data.
4. The unmanned aerial vehicle rocker control system based on 5G transmission of claim 2, characterized in that: and in the process of reading the potentiometer data by using the sensor, denoising the potentiometer data by adopting a Kalman filtering algorithm.
5. The unmanned aerial vehicle rocker control system based on 5G transmission of any one of claims 1-3, characterized in that: in the instruction analysis module, the computer program comprises a four-axis PID algorithm, a path planning algorithm and a C + + language, the four-axis PID algorithm realizes control over four axes of the unmanned aerial vehicle by calculating environmental data and potentiometer data, the path planning algorithm carries out real-time and dynamic flight path planning based on the environmental data and the potentiometer data, and the C + + language is used as a programming language to output corresponding instructions.
6. The unmanned aerial vehicle rocker control system based on 5G transmission of claim 5, characterized in that: the four-axis PID algorithm specifically comprises the following units:
the proportional control unit is used for stopping when the proportional relation reaches a preset value;
the integral control unit is used for pushing the control quantity of the PID controller to increase when the proportional relation is near a preset value and does not reach the preset value, the influence of the integral term on the deviation depends on the integral of time, and the integral term can increase along with the increase of the time;
the differential control unit is used for predicting the trend of error change, and when the proportional relation is about to reach a preset value, the differential term gradually reduces the control quantity of the PID controller;
and the integral separation compensation unit is used for canceling the integral action when the deviation is larger than a specified threshold value.
7. The unmanned aerial vehicle rocker control system based on 5G transmission of claim 5, characterized in that: the path planning algorithm is used for planning the traveling path of the next area by adopting a rolling planning algorithm according to the environment data and the potential data; and an environment model is constructed through environment data and used for evaluating the risk of the next area, so that whether the unmanned aerial vehicle moves to the next area is determined.
8. The unmanned aerial vehicle rocker control system based on 5G transmission of claim 1, characterized in that: the system also comprises a performance verification module, a function verification module and a function verification module, wherein the performance verification module is used for establishing a proportional risk regression model according to potentiometer data, evaluating the performance improvement of different components in the potentiometer of the rocker control system of the unmanned aerial vehicle and performing follow-up troubleshooting on the components; in the performance verification module, in the process of establishing a proportional risk regression model according to potentiometer data, the potentiometer data are normalized, an ROC curve is drawn, and the ROC curve is compared with the performance of different components in a potentiometer of the unmanned aerial vehicle rocker control system in a standard state.
9. An apparatus, characterized in that the apparatus comprises: the memory, the processor and a 5G transmission-based unmanned aerial vehicle rocker control system required program stored on the memory and capable of running on the processor, wherein the 5G transmission-based unmanned aerial vehicle rocker control system required program is configured to realize the functions of the modules and units of the 5G transmission-based unmanned aerial vehicle rocker control system according to any one of claims 1 to 8.
10. A medium, characterized in that the medium is a computer medium, the computer medium stores a 5G transmission-based program required by a rocker control system of an unmanned aerial vehicle, and the 5G transmission-based program required by the rocker control system of the unmanned aerial vehicle realizes the functions of the modules and units of the 5G transmission-based unmanned aerial vehicle rocker control system according to any one of claims 1 to 8 when executed by a processor.
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