CN113985910B - Unmanned aerial vehicle control method and system combining mobile network and satellite positioning - Google Patents
Unmanned aerial vehicle control method and system combining mobile network and satellite positioning Download PDFInfo
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- CN113985910B CN113985910B CN202111057994.7A CN202111057994A CN113985910B CN 113985910 B CN113985910 B CN 113985910B CN 202111057994 A CN202111057994 A CN 202111057994A CN 113985910 B CN113985910 B CN 113985910B
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000005507 spraying Methods 0.000 claims abstract description 29
- 238000010295 mobile communication Methods 0.000 claims abstract description 21
- 239000000575 pesticide Substances 0.000 claims description 25
- 239000007921 spray Substances 0.000 claims description 8
- 238000004590 computer program Methods 0.000 description 3
- 241000238631 Hexapoda Species 0.000 description 2
- 241000607479 Yersinia pestis Species 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000012272 crop production Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Pest Control & Pesticides (AREA)
- Insects & Arthropods (AREA)
- Computer Networks & Wireless Communication (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Catching Or Destruction (AREA)
Abstract
The application discloses unmanned aerial vehicle control method and system combining mobile network and satellite positioning, wherein the method comprises the following steps: attempting to acquire satellite signals received by a receiver arranged on the unmanned aerial vehicle, wherein the satellite signals are used for positioning the unmanned aerial vehicle; determining whether a predetermined event occurs; under the condition that a preset event occurs, a mobile communication network module on the unmanned aerial vehicle is called to acquire identification information of three base stations to which the mobile communication network module can be connected; determining geographic position information of three base stations pre-stored on the unmanned aerial vehicle according to the identification information; and determining the geographic position of the unmanned aerial vehicle according to the signal intensity from the mobile communication network module to the three base stations and the geographic position information of the three base stations. The problem that the unmanned aerial vehicle spraying area is uneven due to the fact that positioning signals are weak in the prior art is solved through the method, positioning can be achieved by means of the base station when satellite positioning signals are not available, and reliability of unmanned aerial vehicle control is improved.
Description
Technical Field
The application relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle control method and system combining a mobile network and satellite positioning.
Background
In the current crop production process, various insect pests are easy to occur, and the crop yield is seriously affected. In order to effectively control diseases and insect disasters, protect healthy growth of crops, improve yield, and the like, pesticides are required to be sprayed on the crops to kill pests. Traditional agricultural plant protection takes manual and semi-mechanized operation as a main mode, operators spray by virtue of experience, labor intensity is high, pesticides are wasted, and the operators are greatly injured by direct contact with pesticides.
In order to solve the problem that the damage to operators caused by manual operation is relatively large, unmanned aerial vehicles are commonly used for spraying pesticides at present. When using unmanned aerial vehicle to spray, the condition that positioning signal is weak to lead to unmanned aerial vehicle to spray the area inhomogeneous probably can appear, does not have the technique to this condition at present can solve.
Disclosure of Invention
The embodiment of the application provides an unmanned aerial vehicle control method and system combining mobile network and satellite positioning, which are used for at least solving the problem that the unmanned aerial vehicle spraying area is uneven due to weak positioning signals in the prior art.
According to one aspect of the present application, there is provided a method for controlling a drone combining a mobile network and satellite positioning, comprising: attempting to acquire satellite signals received by a receiver arranged on the unmanned aerial vehicle, wherein the satellite signals are used for positioning the unmanned aerial vehicle; determining whether a predetermined event occurs, wherein the predetermined event comprises one of: failure to acquire the satellite signal or the acquired satellite signal strength is lower than a threshold value; under the condition that the preset event occurs, calling a mobile communication network module on the unmanned aerial vehicle to acquire identification information of three base stations to which the mobile communication network module can be connected; determining geographic position information of the three base stations pre-stored on the unmanned aerial vehicle according to the identification information; and determining the geographic position of the unmanned aerial vehicle according to the signal intensity from the mobile communication network module to the three base stations and the geographic position information of the three base stations.
Further, after determining the geographic location of the unmanned aerial vehicle, the method further comprises: and controlling the flight of the unmanned aerial vehicle according to the geographic position of the unmanned aerial vehicle.
Further, controlling the flight of the drone according to the geographic location of the drone includes: after determining the geographic position of the unmanned aerial vehicle according to the signal intensity of the three base stations and the geographic position information of the three base stations, identifying the determined geographic position of the unmanned aerial vehicle as the geographic position determined based on the base stations; and controlling the flying speed of the unmanned aerial vehicle to be reduced when flying by using the geographic position determined based on the base station.
Further, after controlling the unmanned aerial vehicle to reduce the flying speed, the method further comprises: determining that the unmanned aerial vehicle is spraying pesticide; controlling the unmanned aerial vehicle to reduce the spraying amount of the pesticide.
Further, controlling the unmanned aerial vehicle to reduce the spray amount of the pesticide includes: and reducing the spraying amount of the pesticide according to the flying speed of the unmanned aerial vehicle after the unmanned aerial vehicle is reduced.
According to another aspect of the present application, there is also provided a control system for a drone combining a mobile network and satellite positioning, including: the acquisition module is used for attempting to acquire satellite signals received through a receiver arranged on the unmanned aerial vehicle, wherein the satellite signals are used for positioning the unmanned aerial vehicle; a first determining module, configured to determine whether a predetermined event occurs, where the predetermined event includes one of: failure to acquire the satellite signal or the acquired satellite signal strength is lower than a threshold value; the calling module is used for calling a mobile communication network module on the unmanned aerial vehicle to acquire identification information of three base stations to which the mobile communication network module can be connected under the condition that the preset event occurs; the second determining module is used for determining geographic position information of the three base stations pre-stored on the unmanned aerial vehicle according to the identification information; and the third determining module is used for determining the geographic position of the unmanned aerial vehicle according to the signal intensity from the mobile communication network module to the three base stations and the geographic position information of the three base stations.
Further, the method further comprises the following steps: and the control module is used for controlling the flight of the unmanned aerial vehicle according to the geographic position of the unmanned aerial vehicle.
Further, the control module is configured to: after determining the geographic position of the unmanned aerial vehicle according to the signal intensity of the three base stations and the geographic position information of the three base stations, identifying the determined geographic position of the unmanned aerial vehicle as the geographic position determined based on the base stations; and controlling the flying speed of the unmanned aerial vehicle to be reduced when flying by using the geographic position determined based on the base station.
Further, the control module is further configured to: determining that the unmanned aerial vehicle is spraying pesticide; controlling the unmanned aerial vehicle to reduce the spraying amount of the pesticide.
Further, the control module is used for reducing the spraying amount of the pesticide according to the flying speed of the unmanned aerial vehicle after being reduced.
In the embodiment of the application, an attempt is made to acquire satellite signals received through a receiver arranged on the unmanned aerial vehicle, wherein the satellite signals are used for positioning the unmanned aerial vehicle; determining whether a predetermined event occurs, wherein the predetermined event comprises one of: failure to acquire the satellite signal or the acquired satellite signal strength is lower than a threshold value; under the condition that the preset event occurs, calling a mobile communication network module on the unmanned aerial vehicle to acquire identification information of three base stations to which the mobile communication network module can be connected; determining geographic position information of the three base stations pre-stored on the unmanned aerial vehicle according to the identification information; and determining the geographic position of the unmanned aerial vehicle according to the signal intensity from the mobile communication network module to the three base stations and the geographic position information of the three base stations. The problem that the unmanned aerial vehicle spraying area is uneven due to the fact that positioning signals are weak in the prior art is solved through the method, positioning can be achieved by means of the base station when satellite positioning signals are not available, and reliability of unmanned aerial vehicle control is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application, illustrate and explain the application and are not to be construed as limiting the application. In the drawings:
fig. 1 is a flow chart of a method of drone control in combination with mobile network and satellite positioning according to an embodiment of the present application.
Detailed Description
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in an order other than that illustrated herein.
The embodiment provides a method for controlling a unmanned aerial vehicle by combining a mobile network and satellite positioning, fig. 1 is a flowchart of the method for controlling the unmanned aerial vehicle by combining the mobile network and the satellite positioning according to the embodiment of the application, as shown in fig. 1, the flowchart includes the following steps:
step S102, attempting to acquire satellite signals received by a receiver arranged on the unmanned aerial vehicle, wherein the satellite signals are used for positioning the unmanned aerial vehicle;
step S104, determining whether a predetermined event occurs, wherein the predetermined event comprises one of the following: failure to acquire the satellite signal or the acquired satellite signal strength is lower than a threshold value;
step S106, calling a mobile communication network module on the unmanned aerial vehicle to acquire identification information of three base stations to which the mobile communication network module can be connected under the condition that the preset event occurs;
step S108, determining geographic position information of the three base stations pre-stored on the unmanned aerial vehicle according to the identification information;
step S110, determining the geographic position of the unmanned aerial vehicle according to the signal intensity from the mobile communication network module to the three base stations and the geographic position information of the three base stations.
In an alternative embodiment, after determining the geographic location of the drone, further comprising: and controlling the flight of the unmanned aerial vehicle according to the geographic position of the unmanned aerial vehicle. At this time, after determining the geographic position of the unmanned aerial vehicle according to the signal strengths of the three base stations and the geographic position information of the three base stations, the determined geographic position of the unmanned aerial vehicle may be identified as the geographic position determined based on the base stations; and controlling the flying speed of the unmanned aerial vehicle to be reduced when flying by using the geographic position determined based on the base station.
After controlling the unmanned aerial vehicle flight speed to reduce, still include: determining that the unmanned aerial vehicle is spraying pesticide; controlling the unmanned aerial vehicle to reduce the spraying amount of the pesticide. For example, the amount of pesticide sprayed may be reduced according to the flight speed of the drone after it is reduced.
After the unmanned aerial vehicle is controlled to reduce the flying speed, the satellite signals are determined to be received and successfully positioned according to the satellite signals, and then the flying speed and the spraying quantity of the unmanned aerial vehicle are recovered.
As another optional implementation manner, after the satellite signal positioning is successful, acquiring first position information obtained by the satellite signal positioning and second position information obtained by the base station positioning, acquiring a deviation amount of the first position information and the second position information when the deviation of the first position information and the second position information exceeds a threshold value, acquiring a first path through which the unmanned aerial vehicle flies according to the second position information obtained by the base station positioning, correcting the first path by using the deviation amount to obtain a corrected second path, and controlling the unmanned aerial vehicle to fly and spray pesticide according to the corrected second path.
For example, a first spraying area of the unmanned aerial vehicle in flying on the first path is calculated according to the first path and the spraying range of the unmanned aerial vehicle, a second spraying area of the unmanned aerial vehicle in the second path is calculated according to the second path and the spraying range of the unmanned aerial vehicle, an area, which is not covered by the first spraying area, in the second spraying area is obtained, a flying path of the unmanned aerial vehicle is planned according to the area, and the unmanned aerial vehicle is controlled to fly and spray pesticide according to the planned flying path.
There are various manners of positioning according to the base station signal, for example, a positioning manner is provided in the present embodiment:
each base station is assigned a designated time period for receiving the uplink reference signal. And receiving uplink reference signals which are forwarded by the base stations and are received in a designated time period. In this embodiment, after receiving the uplink reference signal, the base station may forward the uplink reference signal in a received time period, or may delay forwarding, for example, receive in an nth time period, forward to the base station in the nth time period, or forward to the base station in the (n+5) th time period. The delay time of each base station for delaying forwarding the uplink reference signal is the same, so that the base station can still know from which base station the received uplink reference signal comes according to the uplink reference signal receiving rule. And acquiring the power of the uplink reference signal forwarded by each base station or the signal-to-noise ratio of the uplink reference signal. The signal-to-noise ratio of the uplink reference signal is the ratio of the power of the uplink reference signal to the channel noise, where the channel noise is a constant. Therefore, the power and the signal-to-noise ratio of the uplink reference signal differ by only one multiplying factor, which can indicate the same characteristic. And selecting a time period corresponding to the uplink reference signal with the maximum power or the maximum signal-to-noise ratio as a positioning time period. And acquiring a corresponding positioning base station according to the designated time period for receiving the uplink reference signal and the positioning time period. And determining the position of the unmanned aerial vehicle according to the position of the positioning base station. The positions of the base stations and the positions of the positioning base stations are configured in the unmanned aerial vehicle in advance.
Of course, other positioning methods can be used, for example, the base station can also periodically send a reference signal to the unmanned aerial vehicle; the base station receives first parameter information sent by the unmanned aerial vehicle and calculates an NLOS region in the jurisdiction according to the first parameter information; when detecting that an unmanned aerial vehicle enters an NLOS (non-line-of-sight) area, a base station acquires the arrival time ToA of the unmanned aerial vehicle and adjusts the acquired ToA, and the base station calculates the arrival angle AoA of the unmanned aerial vehicle and adjusts the calculated AoA; and the base station positions the unmanned aerial vehicle according to the adjusted ToA and AoA. After the three base stations respectively position the unmanned aerial vehicle, the geographic position information of the unmanned aerial vehicle can be calculated.
In this way, it is considered that the flight area of the unmanned aerial vehicle used for spraying the pesticide is relatively fixed. In this way, the identification information of all the base stations in the fixed area and the geographic position information of the base stations can be obtained in advance. When the geographic position information of the base station is acquired, the unmanned aerial vehicle can fly to the position of the base station, then the position information of the unmanned aerial vehicle is acquired through a satellite positioning system on the unmanned aerial vehicle, and the position information of the unmanned aerial vehicle is stored on the unmanned aerial vehicle as the position information of the base station. The unmanned aerial vehicle sends the position information of the base station and the identification information of the base station to the server, so that all unmanned aerial vehicles can acquire the position information and the identification information of the base station from the server.
The problem of unmanned aerial vehicle spraying area non-uniformity caused by weak positioning signals in the prior art is solved through the steps, so that positioning can be realized by means of a base station when no satellite positioning signals exist, and the reliability of unmanned aerial vehicle control is improved.
In this embodiment, there is provided an electronic device including a memory in which a computer program is stored, and a processor configured to run the computer program to perform the method in the above embodiment.
The above-described programs may be run on a processor or may also be stored in memory (or referred to as computer-readable media), including both permanent and non-permanent, removable and non-removable media, and information storage may be implemented by any method or technique. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
These computer programs may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks and/or block diagram block or blocks, and corresponding steps may be implemented in different modules.
Such an apparatus or system is provided in this embodiment. The system is called a unmanned aerial vehicle control system combining mobile network and satellite positioning, and comprises: the acquisition module is used for attempting to acquire satellite signals received through a receiver arranged on the unmanned aerial vehicle, wherein the satellite signals are used for positioning the unmanned aerial vehicle; a first determining module, configured to determine whether a predetermined event occurs, where the predetermined event includes one of: failure to acquire the satellite signal or the acquired satellite signal strength is lower than a threshold value; the calling module is used for calling a mobile communication network module on the unmanned aerial vehicle to acquire identification information of three base stations to which the mobile communication network module can be connected under the condition that the preset event occurs; the second determining module is used for determining geographic position information of the three base stations pre-stored on the unmanned aerial vehicle according to the identification information; and the third determining module is used for determining the geographic position of the unmanned aerial vehicle according to the signal intensity from the mobile communication network module to the three base stations and the geographic position information of the three base stations.
The system or the device is used for realizing the functions of the method in the above embodiment, and each module in the system or the device corresponds to each step in the method, which has been described in the method, and will not be described herein.
For example, the system may further include: and the control module is used for controlling the flight of the unmanned aerial vehicle according to the geographic position of the unmanned aerial vehicle. Optionally, the control module is configured to: after determining the geographic position of the unmanned aerial vehicle according to the signal intensity of the three base stations and the geographic position information of the three base stations, identifying the determined geographic position of the unmanned aerial vehicle as the geographic position determined based on the base stations; and controlling the flying speed of the unmanned aerial vehicle to be reduced when flying by using the geographic position determined based on the base station. Optionally, the control module is further configured to: determining that the unmanned aerial vehicle is spraying pesticide; controlling the unmanned aerial vehicle to reduce the spraying amount of the pesticide. Optionally, the control module is configured to reduce the spraying amount of the pesticide according to the flying speed of the unmanned aerial vehicle after the unmanned aerial vehicle is reduced.
The problem that the unmanned aerial vehicle spraying area is uneven due to the fact that positioning signals are weak in the prior art is solved through the method, so that positioning can be achieved by means of a base station when satellite positioning signals are not available, and the reliability of unmanned aerial vehicle control is improved.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (1)
1. A method of unmanned aerial vehicle control combining mobile network and satellite positioning, comprising:
attempting to acquire satellite signals received by a receiver arranged on the unmanned aerial vehicle, wherein the satellite signals are used for positioning the unmanned aerial vehicle;
determining whether a predetermined event occurs, wherein the predetermined event comprises one of: failure to acquire the satellite signal or the acquired satellite signal strength is lower than a threshold value;
under the condition that the preset event occurs, calling a mobile communication network module on the unmanned aerial vehicle to acquire identification information of three base stations to which the mobile communication network module can be connected;
determining geographic position information of the three base stations pre-stored on the unmanned aerial vehicle according to the identification information;
determining the geographic position of the unmanned aerial vehicle according to the signal intensity from the mobile communication network module to the three base stations and the geographic position information of the three base stations;
after determining the geographic location of the drone, further comprising: controlling the flight of the unmanned aerial vehicle according to the geographic position of the unmanned aerial vehicle; wherein controlling the flight of the drone according to the geographic location of the drone comprises: after determining the geographic position of the unmanned aerial vehicle according to the signal intensity of the three base stations and the geographic position information of the three base stations, identifying the determined geographic position of the unmanned aerial vehicle as the geographic position determined based on the base stations; controlling the flight speed of the unmanned aerial vehicle to be reduced when the unmanned aerial vehicle flies by using the geographic position determined based on the base station;
determining that the unmanned aerial vehicle is spraying pesticide; controlling the unmanned aerial vehicle to reduce the spraying amount of the pesticide; wherein controlling the unmanned aerial vehicle to reduce the spray amount of the pesticide includes: reducing the spraying amount of the pesticide according to the flight speed of the unmanned aerial vehicle after the unmanned aerial vehicle is reduced;
after the flight speed of the unmanned aerial vehicle is controlled to be reduced, determining that satellite signals are received and successfully positioned according to the satellite signals, and recovering the flight speed and the spraying quantity of the unmanned aerial vehicle;
after the satellite signal positioning is successful, acquiring first position information obtained by the satellite signal positioning and second position information obtained by the base station positioning, acquiring the deviation amount of the first position information and the second position information under the condition that the deviation of the first position information and the second position information exceeds a threshold value, acquiring a first path flown by the unmanned aerial vehicle according to the second position information obtained by the base station positioning, correcting the first path by using the deviation amount, acquiring a corrected second path, and controlling the unmanned aerial vehicle to fly and spray pesticide according to the corrected second path.
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| CN106937377B (en) * | 2015-12-29 | 2020-04-21 | ***通信集团公司 | Method, device and equipment for realizing graded positioning aiming at monitoring target |
| CN205898998U (en) * | 2016-07-07 | 2017-01-18 | 中国矿业大学 | Unmanned aerial vehicle's navigation control system |
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| CN109965769A (en) * | 2017-12-27 | 2019-07-05 | 王欢 | It is a kind of that wall machine is automatically climbed using local electromagnetic signal positioning system |
| CN109240337B (en) * | 2018-11-15 | 2020-08-04 | 拓攻（南京）机器人有限公司 | Unmanned aerial vehicle plant protection operation method and unmanned aerial vehicle |
| CN109699620B (en) * | 2019-01-15 | 2021-10-08 | 广州极飞科技股份有限公司 | Liquid infusion method, control device and drug infusion machine |
| CN109839951B (en) * | 2019-01-24 | 2022-03-18 | 成都优艾维智能科技有限责任公司 | System and method for generating unmanned aerial vehicle autonomous tracking path model |
| CN110082719A (en) * | 2019-05-27 | 2019-08-02 | 深圳市贝贝特科技实业有限公司 | Unmanned plane positioning system and method |
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| CN108700892A (en) * | 2017-09-27 | 2018-10-23 | 深圳市大疆创新科技有限公司 | A kind of path method of adjustment and unmanned plane |
| CN110262546A (en) * | 2019-06-18 | 2019-09-20 | 武汉大学 | A kind of tunnel intelligent unmanned plane cruising inspection system and method |
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