CN205265924U - 一种无人飞行器 - Google Patents
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Abstract
本实用新型提供了一种无人飞行器，包括：机架结构，机架结构包括中控部分以及支架部分，支架部分包含了以中控部分为对称中心的多条支架，中控部分中设置控制器以及电源；旋翼，设置支架的末端，一个旋翼设置在一个支架上，并且与支架上的电机固定连接；应用处理器，对无人飞行器的任务进行调度；通信网络控制器，与应用处理器连接，分析上下行通信控制信道，确定无人飞行器的通信网络。也就是说，在无人飞行器检测到当前网络受到干扰时，无人飞行器将生成通信网络切换请求，通过与控制端进行通信完成通信网络切换的目的，这样就可避免通信网络受到干扰而导致无人飞行器失控的问题，进而提升无人飞行器的控制稳定性以及安全性。
Description
技术领域
本申请涉及无人飞行器技术领域，尤其涉及一种无人飞行器。
背景技术
随着无人飞行器特别是多旋翼无人飞行器的广泛应用，无人飞行器与无人飞行器控制端之间安全的通信已成为无人飞行器开发厂家和用户所关心的问题。目前主流无人飞行器一般采用点对点控制，即一个地面控制台控制一个无人飞行器，而且对无人飞行器的控制方法基本限制在可视范围以内，有限的控制范围主要受制于无人飞行器和无人飞行器控制端通信频率采用的遥控范围频率，其发射功率受限，对于超视距控制和图像回传都存在瓶颈。另一方面，无人飞行器控制频段多采用2.4GHz频段，2.4GHzISM是全世界公开通用使用的无线频段，无线局域网、蓝牙通信、微波炉、无绳电话、无线摄像机、户外微波链路、无线游戏控制器、Zigbee、WiMax等均工作在这一频段，因此在2.4GHz频段下控制无人飞行器容易受到来自其它电子设备同频或邻频设备的干扰，导致无人飞行器无法控制，甚至坠机或丢失等情况发生。
实用新型内容
本实用新型实施例提供了一种无人飞行器，该无人飞行器能够根据当前通信网络被干扰的情况来进行网络切换，从而保证了无人飞行器与控制端之间的通信稳定性。
其具体的技术方案如下：
一种无人飞行器，包括：
机架结构，所述机架结构包括中控部分以及支架部分，所述支架部分包含了以所述中控部分为对称中心的多条支架，所述中控部分中设置控制器以及电源；
旋翼，设置所述支架的末端，一个旋翼设置在一个支架上，并且与所述支架上的电机固定连接；
应用处理器，设置在所述中控部分内，对无人飞行器的任务进行调度；
通信网络控制器，设置在所述中控部分内，与所述应用处理器连接，分析上下行通信控制信道，确定所述无人飞行器的通信网络。
可选的，还包括：
移动通信基带及射频处理模块，与所述应用处理模块连接，接收控制端发送的无人飞行器的控制信号以及指令信息，并将无人飞行器采集到的视频数据、音频数据、传感器数据通过移动通信网络发送至控制端；
2.4GHz通信模块，与所述应用处理器连接，与控制端建立2.4GHz短距离通信，并通过2.4GHz通信网络接收控制端发送的无人飞行器的控制信号以及指令信息，并将无人飞行器采集到的视频数据、音频数据、传感器数据通过移动通信网络发送至控制端。
可选的，还包括：
卫星通信控制器，与所述应用处理器连接，建立与控制端之间的卫星通信连接，通过卫星通信网络与控制端之间传输控制信号以及指令信息。
可选的，还包括：
飞行状态采集器，与所述应用处理器连接，采集并记录无人飞行器的各种传感器数据和卫星导航数据，并通过无人飞行器的通信网络传输至控制端；
卫星导航模块，与所述应用处理器以及所述飞行状态采集器连接，采集卫星导航数据，并将卫星导航数据传输至飞行状态采集器。
可选的，还包括：
陀螺仪，与所述飞行状态采集器连接，采集无人飞行器的方位信息，并将方位信息传输至飞行状态采集器；
加速传感器，与所述飞行状态采集器连接，采集无人飞行器在运行方向上的速度以及加速度，并将采集到的速度以及加速度传输至飞行状态采集器；
重力传感器，与所述飞行状态采集器连接，采集无人飞行器和水平面的差异值，并将所述差异值发送至所述飞行状态采集器。
可选的，还包括：
飞行控制器，与所述应用处理器连接，接收对无人飞行器的控制指令，读取飞行状态采集器中的飞行状态参数，按照规划航线执行飞行任务；
自动避障处理器，与所述飞行控制器连接，向飞行控制器发送避障请求。
可选的，还包括：
媒体流处理器，与所述应用处理器连接，将视频数据或者图片数据进行压缩编码处理，并将压缩编码处理的视频数据以及图片数据通过通信网络传输至控制端；
摄像头，与所述媒体流处理器连接，采集视频数据或者图片数据，并将视频数据或者图片数据传输至媒体流处理器。
可选的，还包括：
存储器及SD接口，与所述应用处理器连接，存储无人飞行器的设备数据以及应用数据。
可选的，还包括：
客户识别SIM卡模块，与所述应用处理器连接，对用户数据进行鉴权。
可选的，还包括：
计时器，与所述应用处理器连接，对接收控制端的控制指令进行计时。
本实用新型所提供的无人飞行器中，无人飞行器通过通信网络控制器分析上下行通信控制信道，确定所述无人飞行器的通信网络。也就是说，在无人飞行器检测到当前网络受到干扰时，无人飞行器将生成通信网络切换请求，通过与控制端进行通信完成通信网络切换的目的，这样就可避免通信网络受到干扰而导致无人飞行器失控的问题，进而提升无人飞行器的控制稳定性以及安全性。
另外，在本实用新型中，控制端可以基于无人飞行器的网络切换请求来生成切换确认指令，并根据切换确认指令来指示无人飞行器进行网络切换，并且自身也将切换至对应网络，这样保证了在无人飞行器与控制端之间通信出现异常或者是不稳定时，将及时切换网络，并且也控制无人飞行器进行网络切换，这样保证了无人飞行器的控制稳定性以及可靠性。
附图说明
图1为本实用新型实施例中无人飞行器的控制部分的结构示意图；
图2为本实用新型实施例中控制端的控制部分的结构示意图。
具体实施方式
实施例一：
本实用新型实施例提供了一种无人飞行器，包括：机架结构，机架结构包括中控部分以及支架部分，支架部分包含了以中控部分为对称中心的多条支架，中控部分中设置控制器以及电源；旋翼，设置支架的末端，一个旋翼设置在一个支架上，并且与支架上的电机固定连接；应用处理器，设置在中控部分内，对无人飞行器的任务进行调度；通信网络控制器，设置在中控部分内，与应用处理器连接，分析上下行通信控制信道，确定无人飞行器的通信网络。也就是说，在无人飞行器检测到当前网络受到干扰时，无人飞行器将生成通信网络切换请求，通过与控制端进行通信完成通信网络切换的目的，这样就可避免通信网络受到干扰而导致无人飞行器失控的问题，进而提升无人飞行器的控制稳定性以及安全性。
下面通过附图以及具体实施例对本实用新型技术方案做详细的说明，应当理解，本实用新型实施例以及实施例中的具体技术特征只是对本实用新型技术方案的说明，而不是限定，在不冲突的情况下，本实用新型实施例以及实施例中的具体技术特征可以相互组合。
如图1所示为本实用新型实施例中无人飞行器中的控制部分的结构示意图，该控制部分包括：
应用处理器模块101，作为无人飞行器的核心处理模块，包括：CPU，RAM内存，操作***和应用软件。该模块负责多任务调度，包括访问应用模块、无线通信功能、存储器读写和无人飞行器的传感器数据处理等等。
存储器及SD接口102，包括：可快速读写的SDD硬盘以及可***SD卡的移动读写装置，主要用于存储无人飞行器设备数据和各类应用数据，例如：无人飞行器设备码、硬件数据、出厂设置、视频媒体流、飞行状态数据等等。
移动通信基带及射频处理模块103，该移动通信基带及射频处理模块103主要由2G/3G/4G无线通信芯片组构成，负责通过移动通信网络接收地面控制端发送的无人飞行器的飞行控制信号和各类应用层指令消息，同时将无人机采集的视频、音频、传感器数据以及其他应用软件信息通过移动通信网络发送至地面的控制端。当使用移动通信网络作为数据传输网络时，控制端可选择是否实时回传无人机采集的视频、音频数据，而无人飞行器的额传感器数据和控制数据会始终保持传输状态。
SIM卡模块104，包括:SIM卡插口和数据读取单元，SIM卡或USIM卡是用户在签订网络服务合同后由移动网络运营商发出的，该SIM卡模块104可读取SIM卡或USIM卡中用户信息，包括：用户签约信息，IMSI(国际移动用户标识)号码，鉴权三元组或五元组数据。
2.4GHz通信模块105，该2.4GHz通信模块105通过2.4GHz通信频率建立短距离通信，在室内或低速移动的室外环境会优选该2.4GHz通信模块105建立无人飞信器与地面的控制端之间的通信连接。
卫星通信控制器106，利用卫星通信信道建立无人飞行器与地面的控制端之间的通信连接，一般是在无其他可用无线通信网络的情况下，会使用卫星通信控制器106，作为应急通信。当然这里的卫星通信控制器106为可选控制器，并不是无人飞行器上一定需要装配。
通信网络控制器107，该通信网络控制器107通过实时分析上行通信控制信道，不同通信网络监测到的信号强度和误码率数据，确定无人机选择哪种通信网络与地面控制端进行控制指令通信和数据传输，生成网络切换请求发送给控制端，或接收控制端发出的切换确认请求，并作出通信控制模式的切换。
飞行状态采集器108，采集并记录无人飞行器的各种传感器数据和GPS数据，通过通信网络控制器107选择的无线通信模块实时回传至控制端。
卫星导航GPS模块109：通过高灵敏度GPS接收器，在捕获到有效的卫星信号时，该模块用于确定无人机当前的经纬度位置。
陀螺仪110：通过传感器，实时收集无人飞行器方位信息。
加速度计111：通过传感器，实时收集无人飞行器运行方向上的速度的变换。
重力传感器112：通过传感器，实时收集无人飞行器和地球水平面的差异，即飞行姿态。
飞行控制器113，接收云端管理服务器对无人机的控制指令，实时读取飞行状态参数，按照规划航迹执行飞行任务，在自动避障模块114发出近障警告情况下，采取避障飞行动作。
自动避障处理器114，无人机在不同的方向上配置超声波探测传感器，探测无人机周围障碍物，在飞行方向的一定距离上探测到障碍物时，向飞行控制模块113发出减速避障请求，当距离进一步缩小时，向飞行控制模块发出悬停或上升请求。
摄像头115，机载相机负责采集高清视频和静态图片信息。
媒体流处理器116，将视频或图片进行高效率压缩编码处理，使得图像或视频内容便于实时在各类无线通信网络中传输，回传至控制端。
可扩展应用器117，该模块预留作为各类无人机应用的开发，开源的用户开发界面和软件开发工具(SDK)让开发人员可以轻松地调用无人机的应用程序接口，访问摄像头、无线通信功能、数据库和各类传感器原始数据。
首先，根据无人飞行器的飞行特点，无人飞行器的控制和高速率数据传输需要无线网络的支持，现有的无线网络主要分为：无线局域网络、移动通信网络、卫星通信网络等，根据无线网络的特点，2.4GHz通信控制频段和图像传输频段，该频段传输速率高，传输范围为100-300m范围内，适合无人飞行器视距范围内控制和图像传输。所以无人飞行器会优先选择2.4GHz频段。
具体来讲，无人飞行器开机，与控制端通过2.4GHz通信模块105与无人飞行器进行2.4GHz对码，建立与控制端之间的点对点数据通信路由，无人飞行器和控制端的移动通信模块进行网络鉴权、网络附着，建立与控制端之间的移动通信网络数据通信路由。对于无人飞行器的视距范围，优先选择2.4GHz频段。
若是未建立2.4GHz点对点通信，则提示网络通信连接失败。当然，若是移动通信网数据通信路由建立失败时，也将提示网络通信连接失败，这样可以给用户及时的提醒连接失败，以便用户可以及时的进行重连接。
在建立上述网络数据通信路由之后，无人飞行器将首先通过2.4GHz频段向控制端回传传感器数据以及图像数据。
在无人飞行器使用过程中，实时的检测当前网络的网络参数，这里的网络参数至少包含了信号强度以及误码率，这两个参数可以直接的反应当前网络被干扰的程度。
首先应用处理器101将网络参数中的信号强度与信号门限进行比较，若是信号强度小于第一信号门限时，则说明信号强度满足预设条件，也就是2.4GHz通信网络的受到干扰，数据传输不稳定，当前2.4GHz频段不能够正常使用，2.4GHz通信网络将不能完成当前的数据传输，因此就需要生成第一网络切换请求。这里的第一信号强度门限可以是-85dbm。
若是，该信号强度大于第一信号门限时，此时将进一步判定网络参数中的误码率是否大于第一误码门限，若误码率小于第一误码门限，则说明当前网络稳定，可以维持2.4GHz网络通信，这样就保证了数据传输的稳定性。这里的第一误码门限可以是10-3。
若是误码率大于第一误码门限时，则说明网络参数满足预设条件，也就是说明当前网络在数据传输过程中的误码较多，若是继续使用当前网络将造成数据出错，所以将生成第一网络切换请求。该网络切换请就是用于请求切换通信网络，比如说从当前的2.4GHz通信网络切换至无线通信网络，或者是从当前的2.4GHz通信网络切换至卫星通信网络等等。
在生成网络切换请求之后，向控制端发送该第一网络切换请求，并实时的检测是否接收到控制端返回的切换确认指令，在本实用新型实施例中，为了提示通信网络切换效率，因此在向控制端发送了网络切换请求之后，开启计时器，并在计时器设定的预设时间段内检测是否接收到切换确认指令。
若是在预设时间段内接收到切换确认指令，则通信网络控制器107根据切换确认指令进行通信网络切换；若是在预设时间段内未接收到切换确认指令，则直接进行网络切换，也就是说，若是在预设时间段内接收到切换确认指令，则根据该指令进行切换，若是在预设时间段内未接收到切换确认指令，则直接切换至最高优先级的目的网络，这样保证了在当前网络出现异常时，可以及时的进行通信网络的切换，从而提升了无人飞行器与控制段之间的通信稳定性。
这里需要说明，在本实用新型实施例中，2.4GHz通信网络可以设置为优先级最高的通信网络，其次是无线通信网络，比如说2G/3G/4G通信网络，再其次可以是无线城域网网络，在其次可以是平流层通信网络，再其次是卫星通信网络。当然通信网络的优先级可以根据不同的应用场景进行调整。
举例来讲，当2.4GHz通信网络出现异常时，则无人飞行器的通信网络将根据优先级的先后顺序，首先选择切换到无线通信网络。当然，若是没有接收到控制端的切换确认指令，也会首先选择切换到无线通信网络。
进一步，在无人飞行器从2.4GHz通信网络切换到无线通信网络之后，无人飞行器将保持在无线通信网络下与控制端进行通信。并实时的检测当前网络的信号强度以及误码率是否恢复，若当前网络的信号强度以及误码率恢复，则生成第二网络切换请求，并将第二网络切换请求发送至控制端。
具体来讲，无人飞行器将实时的检测2.4GHz通信网络的信号强度以及误码率，判定2.4GHz通信网络的信号强度是否大于第二信号门限值。
若是2.4GHz通信网络的信号强度小于第二信号门限时，则维持无线通信网络连接；
若是2.4GHz通信网络的信号强度大于第二信号门限时，则进一步检测2.4GHz通信网络的误码率是否低于第二误码门限，若是误码率高于第二误码门限，则说明当前2.4GHz通信网络不稳定，所以继续维持无线通信网络连接；若是误码率低于第二误码门限，则说明2.4GHz通信网络稳定，所以无人飞行器将生成第二网络切换请求，这里的第二网络切换请求用于请求切换至2.4GHz通信网络。这里的第二信号门限可以是-78dbm，第二误码率门限可以是10-4。
无人飞行器将第二网络切换请求发送至控制端，并且开启计时器，然后检测在预设时间段内是否接收到控制端基于第二网络切换请求返回切换确认指令，若是在该预设时间段内接收到该切换确认指令时，则当前的无线通信网络切换回2.4GHz通信网络；若是在预设时间段内未接收到该切换确认指令时，则直接从当前的无线通信网络切换回2.4GHz通信网络，这样保证了无人飞行器可以及时的进行网络切换。
当然，在进行切换时，还需要检测网络切换是否成功，若是网络切换成功时，则使用2.4GHz通信网络进行数据传输以及通信。
若切换失败，则生成提示信息，该提示信息用于提示信息，该提示信息可以网络切换失败。
在实用新型实施例一种提供了一种无人飞行器的通信控制方法可以在当前网络通信出现异常或者是当前网络通信出现不稳定时，将及时的生成的网络切换请求，并且基于控制端返回的切换确认指令来进行网络切换，这样可以使得无人飞行器与控制端之间的通信的保持实时的畅通，从而保证了无人飞行器使用的稳定性。
实施例二：
本实用新型实施例中还提供了一种控制端，该控制端的控制部分的结构示意图如图2所示，该控制端包括：
应用处理器201，作为控制端的核心处理器，包括：CPU，RAM内存，操作***和应用软件。该模块负责多任务调度，包括访问应用模块功能、无线通信功能、存储器读写功能等等。
存储器及SD接口202，包括：可快速读写的SDD硬盘以及可***SD卡的移动读写装置，主要用于存储无人飞行器回传的飞行数据和各类应用数据。
移动通信基带及射频处理器203，主要由2G/3G/4G无线通信芯片组构成，负责通过移动通信网络接收无人飞行器发送的各类飞行传感器数据和图像数据；同时将发送控制端对无人飞行器的控制指令消息。当使用移动通信网络作为数据传输网络时，控制端可选择是否实时回传无人飞行器采集的视频、音频数据，而无人飞行器传感器数据和控制数据会始终保持传输状态。
SIM卡模块204，包括:SIM卡插口和数据读取单元，SIM卡或USIM卡是用户在签订网络服务合同后由移动网络运营商发出的，该模块可读取SIM卡或USIM卡中用户信息，包括：用户签约信息，IMSI(国际移动用户标识)号码，鉴权三元组或五元组数据。
2.4GHz通信模块205，该模块通过2.4GHz通信频率建立视距范围通信，在室内或0-500m可视距离范围的室外环境会优选该模块建立无人飞行器与地面控制端之间的通信连接。
卫星通信控制器206，该模块利用卫星通信信道建立无人飞行器与地面控制端之间的通信连接，一般是在无其他可用无线通信网络的情况下，会使用卫星通信模块，作为应急通信。该卫星通信控制器206为可选控制器，在该控制端中可以不包含该控制器。
通信网络控制器207，负责分析下行通信信道，不同通信网络的信号强度和误码率数据，处理无人飞行器提出的通信模式切换请求，或者生成通信模式切换请求，并作出通信控制模式的切换。
人机交互器208，实现对无人飞行器的控制指令下发，实现实时监控无人飞行器的飞行执行过程。
媒体流处理器209，对无人机回传的声音、图像等媒体流数据进行实时编解码处理。
显示屏210，呈现GIS地图信息，呈现无人飞行器的各项传感器数据，包括：位置，方向，速度，姿态，高度，续航里程等信息。在控制端选择无人飞行器回传图像数据时，可呈现实时图像数据。
飞行状态采集器211，实时采集无人飞行器回传的各项飞行传感器数据。
飞行线路定制器212，根据控制端用户需求，基于GIS模块213提供的地理信息，制定飞行器自主飞行路线航迹，包括飞行器起降点、悬停点、降落点、航迹点、返航点，航迹上的飞行高度、飞行速度。
具体来讲，控制端与无人飞行器通过2.4GHz通信模块205进行2.4GHz对码，建立与无人飞行器之间的点对点数据通信路由，控制端和无人飞行器的移动通信模块进行网络鉴权、网络附着，建立与控制端之间的移动通信网络数据通信路由。对于无人飞行器的视距范围，优先选择2.4GHz频段。
若是未建立2.4GHz点对点通信，则提示网络通信连接失败。当然，若是移动通信网数据通信路由建立失败时，也将提示网络通信连接失败，这样可以给用户及时的提醒连接失败，以便用户可以及时的进行重连接。
在建立上述网络数据通信路由之后，控制端将首先通过2.4GHz频段向无人飞行器传输控制指令以及接收无人飞行器传输的数据。
在建立上述的网络连接之后，控制端会实时的检测是否接收到网络切换请求，该网络切换请是用于切换通信网络。
若是接收到网络切换请求，则应用处理器201检测控制信号是否丢失，若控制信号丢失，则生成网络连接失败的提示信息，这样可以及时的提示网络连接失败，无法将控制信号传输至无人飞行器。
若是控制信号未丢失，则向无人飞行器发送切换确认指令，该切换确认指令用于指示无人飞行器从当前网络切换至目的网络。比如说从2.4GHz通信网络切换至移动通信网络。
当然，为了保证控制端与无人飞行器之间的通信，在将切换确认指令发送至无人飞行器之后，控制端将通过通信网络控制器207从当前网络切换至目的网络，也就是从2.4GHz通信网络切换至移动通信网络。
在切换时，控制端会检测网络切换是否成功，若是切换成功，则通过移动通信网络与无人飞行器进行通信；若是切换失败，则生成提示信息，该提示信息用于提示网络连接失败。
进一步，在本实用新型实施例中，在将切换确认指令发送至无人飞行器之前，控制端还将检测是否关闭图像实时回传功能，若是需要关闭图像实时回传功能时，则通知无人飞行器关闭图像实时回传功能，这样可以减小网络带宽压力，使得无人飞行器与控制端之间的通信更加的稳定可靠，保证了无人飞行器的操控性。
进一步，在本实用新型实施例中，在控制端从当前网络切换至目的网络之后，也就是从2.4GHz通信网络切换至移动通信网络之后，控制端将实时的检测是否接收到无人飞行器从移动通信网络切换至2.4GHz通信网络的网络切换请求。
若是接收到从移动通信网络切换至2.4GHz通信网络的网络切换请求时，则检测控制信号是否丢失，若控制信号丢失，则生成提示信息，该提示信息用于提示网络连接失败，若是控制信号未丢失，则生成切换确认指令，并将切换确认指令发送至无人飞行器，以使无人飞行器从移动通信网络切换至2.4GHz通信网络。
在将切换确认指令发送至无人飞行器之后，控制端将从目的网络切换至当前网络，也就是从移动通信网络切换至2.4GHz通信网络。
在切换的过程中，控制端还将检测切换是否成功，若是切换成功，则使用2.4GHz通信网络与无人飞行器进行通信；若切换失败，则生成提示信息，该提示信息用于提示网络连接失败。
在实施例二中提供了一种无人飞行器的通信控制方法，在该方法中控制端可以基于无人飞行器的网络切换请求来生成切换确认指令，并根据切换确认指令来指示无人飞行器进行网络切换，并且自身也将切换至对应网络，这样保证了在无人飞行器与控制端之间通信出现异常或者是不稳定时，将及时切换网络，并且也控制无人飞行器进行网络切换，这样保证了无人飞行器的控制稳定性以及可靠性。
尽管已描述了本申请的优选实施例，但本领域内的普通技术人员一旦得知了基本创造性概念，则可对这些实施例作出另外的变更和修改。所以，所附权利要求意欲解释为包括优选实施例以及落入本申请范围的所有变更和修改。
显然，本领域的技术人员可以对本申请进行各种改动和变型而不脱离本申请的精神和范围。这样，倘若本申请的这些修改和变型属于本申请权利要求及其等同技术的范围之内，则本申请也意图包含这些改动和变型在内。
Claims (10)
1.一种无人飞行器，其特征在于，包括：
机架结构，所述机架结构包括中控部分以及支架部分，所述支架部分包含了以所述中控部分为对称中心的多条支架，所述中控部分中设置控制器以及电源；
旋翼，设置所述支架的末端，一个旋翼设置在一个支架上，并且与所述支架上的电机固定连接；
应用处理器，设置在所述中控部分内，对无人飞行器的任务进行调度；
通信网络控制器，设置在所述中控部分内，与所述应用处理器连接，分析上下行通信控制信道，确定所述无人飞行器的通信网络。
2.如权利要求1所述的无人飞行器，其特征在于，还包括：
移动通信基带及射频处理模块，与所述应用处理模块连接，接收控制端发送的无人飞行器的控制信号以及指令信息，并将无人飞行器采集到的视频数据、音频数据、传感器数据通过移动通信网络发送至控制端；
2.4GHz通信模块，与所述应用处理器连接，与控制端建立2.4GHz短距离通信，并通过2.4GHz通信网络接收控制端发送的无人飞行器的控制信号以及指令信息，并将无人飞行器采集到的视频数据、音频数据、传感器数据通过移动通信网络发送至控制端。
3.如权利要求1所述的无人飞行器，其特征在于，还包括：
卫星通信控制器，与所述应用处理器连接，建立与控制端之间的卫星通信连接，通过卫星通信网络与控制端之间传输控制信号以及指令信息。
4.如权利要求1所述的无人飞行器，其特征在于，还包括：
飞行状态采集器，与所述应用处理器连接，采集并记录无人飞行器的各种传感器数据和卫星导航数据，并通过无人飞行器的通信网络传输至控制端；
卫星导航模块，与所述应用处理器以及所述飞行状态采集器连接，采集卫星导航数据，并将卫星导航数据传输至飞行状态采集器。
5.如权利要求3所述的无人飞行器，其特征在于，还包括：
陀螺仪，与所述飞行状态采集器连接，采集无人飞行器的方位信息，并将方位信息传输至飞行状态采集器；
加速传感器，与所述飞行状态采集器连接，采集无人飞行器在运行方向上的速度以及加速度，并将采集到的速度以及加速度传输至飞行状态采集器；
重力传感器，与所述飞行状态采集器连接，采集无人飞行器和水平面的差异值，并将所述差异值发送至所述飞行状态采集器。
6.如权利要求4所述的无人飞行器，其特征在于，还包括：
飞行控制器，与所述应用处理器连接，接收对无人飞行器的控制指令，读取飞行状态采集器中的飞行状态参数，按照规划航线执行飞行任务；
自动避障处理器，与所述飞行控制器连接，向飞行控制器发送避障请求。
7.如权利要求1所述的无人飞行器，其特征在于，还包括：
媒体流处理器，与所述应用处理器连接，将视频数据或者图片数据进行压缩编码处理，并将压缩编码处理的视频数据以及图片数据通过通信网络传输至控制端；
摄像头，与所述媒体流处理器连接，采集视频数据或者图片数据，并将视频数据或者图片数据传输至媒体流处理器。
8.如权利要求1所述的无人飞行器，其特征在于，还包括：
存储器及SD接口，与所述应用处理器连接，存储无人飞行器的设备数据以及应用数据。
9.如权利要求1所述的无人飞行器，其特征在于，还包括：
客户识别SIM卡模块，与所述应用处理器连接，对用户数据进行鉴权。
10.如权利要求1所述的无人飞行器，其特征在于，还包括：
计时器，与所述应用处理器连接，对接收控制端的控制指令进行计时。
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