WO2019000406A1 - Procédé et appareil de commande pour la sécurité de vol d'un véhicule aérien sans pilote, et support de stockage lisible par machine - Google Patents

Procédé et appareil de commande pour la sécurité de vol d'un véhicule aérien sans pilote, et support de stockage lisible par machine Download PDF

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Publication number
WO2019000406A1
WO2019000406A1 PCT/CN2017/091139 CN2017091139W WO2019000406A1 WO 2019000406 A1 WO2019000406 A1 WO 2019000406A1 CN 2017091139 W CN2017091139 W CN 2017091139W WO 2019000406 A1 WO2019000406 A1 WO 2019000406A1
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WIPO (PCT)
Prior art keywords
drone
flight
aircraft
ads
module
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PCT/CN2017/091139
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English (en)
Chinese (zh)
Inventor
张志鹏
王乃博
陈明
杨亮亮
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2017/091139 priority Critical patent/WO2019000406A1/fr
Priority to CN201780004891.XA priority patent/CN108475065B/zh
Publication of WO2019000406A1 publication Critical patent/WO2019000406A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • 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

Definitions

  • the invention relates to the technical field of drones, in particular to a safety control method, device and machine readable storage medium for flight of a drone.
  • the ADS-B (Automatic Dependent Surveillance-Broadcast) module can detect the surrounding aircraft in real time. When it detects that an aircraft is approaching the drone and there is a collision risk, it will crash. Risk warning or automatic risk avoidance.
  • the malicious user destroys the ADS-B module of the drone by cracking or interfering to disable the ADS-B module, which causes the ADS-B module carried by the drone to fail to detect the surrounding aircraft normally.
  • the risk of collision cannot be detected correctly, which affects the safety of drone flight.
  • the present invention discloses a safety control method, a device and a machine readable storage medium for flying a drone to protect the safety of the drone in time by automatically discovering the failure of the ADS-B module mounted on the drone.
  • a method for controlling a flight of a drone comprising:
  • a second aspect of the present invention provides a control device, including:
  • a processor configured to acquire first aircraft information around a flight location of the drone detected by the ADS-B module carried by the drone, and acquire a periphery of the flight location from outside the drone Second aircraft information;
  • a controller configured to determine that the ADS-B module is invalid according to the first aircraft information and the second aircraft information.
  • a machine readable storage medium on which a plurality of computer instructions are stored, and when the computer instructions are executed, the following processing is performed:
  • two kinds of aircraft information are obtained by two ways: acquiring the first aircraft surrounding the flight position of the drone detected by the ADS-B module carried by the drone Information, and acquiring second aircraft information around the flight location from outside the drone; then determining that the ADS-B module fails based on the first aircraft information and the second aircraft information, once according to the first The aircraft information and the second aircraft information determine that the failure of the ADS-B module means that the flight of the drone is at risk, and the corresponding measures are taken in time to prevent the risk and ensure the flight safety of the drone. Safe flight of the aircraft.
  • FIG. 2 is a networking diagram of an application according to Embodiment 1 of the present invention.
  • FIG. 3 is a flowchart of a method according to Embodiment 1 of the present invention.
  • FIG. 4 is a first flowchart of determining an ADS-B module failure according to the present invention.
  • FIG. 5 is a second flowchart of determining an ADS-B module failure according to the present invention.
  • FIG. 6 is a third flowchart of determining an ADS-B module failure according to the present invention.
  • FIG. 7 is a fourth flowchart of determining an ADS-B module failure according to the present invention.
  • Figure 11 is a structural diagram of a control device provided by the present invention.
  • the embodiment of the invention provides a safety control method for the flight of the drone, by checking whether the automatic Dependent Surveillance-Broadcast module (ADS-B) is installed on the drone Invalidation, so that the ADS-B module is interfered or cracked by any means. As long as the ADS-B module fails, the UAV flight safety control is performed in time to prevent the collision risk.
  • ADS-B automatic Dependent Surveillance-Broadcast module
  • FIG. 1 is a flowchart of a method according to an embodiment of the present invention. As shown in Figure 1, the process can include the following steps:
  • Step 101 Acquire first aircraft information around a flight location of the drone detected by the ADS-B module carried by the drone.
  • the ADS-B module carried by the drone can detect the surrounding aircraft in the flight position of the drone.
  • the peripheral aircraft at the flight location of the drone is specifically: an aircraft within a circular area centered at the flight position and having a radius of detection of the ADS-B module.
  • the aircraft information of each aircraft surrounding the flight position of the drone includes at least one of the following: an aircraft identification (such as a number), a flight position of the aircraft, and an aircraft.
  • the height of the flight, the speed, and the heading of the aircraft are not specifically limited in the present invention.
  • the aircraft information of each aircraft around the flight position of the drone detected by the ADS-B module mounted on the drone is uniformly recorded as the first aircraft information.
  • Step 102 Acquire second aircraft information around the flight location from outside the drone.
  • the outside of the drone in step 102 refers to a medium other than the drone, and the medium is not limited to a website, a device other than the drone, or the like.
  • the number of aircraft around the flight position of the drone is large, and the aircraft information of each aircraft around the flight position of the drone includes at least one of the following: the aircraft identification (such as the number), the flight position of the aircraft, the altitude of the aircraft flight.
  • the speed, the heading of the aircraft, and the route planning of the aircraft are not specifically limited in the present invention.
  • step 102 the periphery of the flight position of the drone will be acquired from the outside of the drone.
  • the aircraft information of each aircraft is uniformly recorded as the second aircraft information.
  • Step 103 Determine that the ADS-B module is invalid according to the first aircraft information and the second aircraft information.
  • the operation of the ADS-B module mounted on the drone can be determined based on the first aircraft information and the second aircraft information described above.
  • the working condition of the ADS-B module mounted on the drone can be determined according to the first aircraft information and the second aircraft information mentioned above, because the first aircraft information described above is the ADS-equipped by the drone.
  • the peripheral position of the drone detected by the B module Aircraft information, and the second aircraft information is aircraft information around the flight position of the drone obtained from the outside of the drone.
  • the first aircraft information and the second aircraft information principle The same is true, or even if it is not the same, the error will be less than the set threshold; if the error of the first aircraft information and the second aircraft information is greater than the set threshold, it means that the ADS-B module is mounted on the drone.
  • the performance is not good and may fail.
  • the first aircraft information and the second aircraft information described above it is possible to determine the operation of the ADS-B module mounted on the drone. The following section will focus on how to determine the failure of the ADS-B module mounted on the drone based on the first aircraft information and the second aircraft information, which will not be described here.
  • the ADS-B module is determined to be invalid according to the first aircraft information and the second aircraft information, it means that the flight of the drone is at risk, and corresponding measures are taken in time to prevent the risk and ensure the safety of the drone. This ultimately achieved a safe flight of the drone.
  • FIG. 2 is a networking diagram of an application according to Embodiment 1 of the present invention.
  • the application networking shown in FIG. 2 includes a terminal, a drone, and an outside of the drone.
  • the exterior of the drone may be a designated device external to the designated website and/or drone.
  • the designated website can be some websites that provide information on the flight distribution of the aircraft, such as FlightRadar: www.flightradar24.com, FlightAware: zh.flightaware.com and other websites.
  • the designated device may be some device that provides aircraft flight distribution information, such as a device in a radar station, a device in an airport, or other device for providing aircraft information, etc., which is not specifically limited by the present invention.
  • FIG. 3 is a flowchart of a method according to Embodiment 1 of the present invention. This process is applied to the above terminal.
  • the client is set in the terminal.
  • the client can be implemented by means of an APP (application), or by an SDK (Software Development Kit), or by means of a parameter (such as a drone software). Implementation, there is no limit to this implementation.
  • the client set in the terminal accesses the network when the drone is in flight.
  • the network can be accessed by wired or wireless, and the access mode is not limited.
  • the client can communicate with the outside of the drone through the connected network.
  • Figure 2 shows an example of accessing the network in a wireless manner.
  • the client set in the terminal can control the drone, and the connection mode of the two can be wired connection or wireless connection.
  • the connection mode is not limited, and the wireless connection is shown in FIG. 2 (such as WiFi, OcuSync, Lightbridge). , Auxiliary, etc.) as an example.
  • the process may include the following steps:
  • Step 301 The terminal acquires, by using a client for controlling the drone, the first aircraft information around the flight location of the drone detected by the ADS-B module carried by the drone.
  • the first aircraft information around the flight position of the drone is specifically: aircraft information of each aircraft in a circular area with the flight position of the unmanned aircraft as the center and the detection range of the ADS-B module as a radius.
  • aircraft information for each aircraft includes: aircraft identification, aircraft altitude, aircraft flight speed, direction of aircraft flight, and the like.
  • the flight position of the UAV may be a flight position of the UAV that is transmitted in real time by the positioning module mounted on the UAV.
  • the flight position is the current position of the drone and is dynamically changing, which means that the center of the circular area is constantly changing dynamically.
  • each time the terminal receives the flight position of the drone sent by the positioning module carried by the drone the flow shown in FIG. 3 is executed.
  • the above flight position is the current state of the drone.
  • the position shown in FIG. 3 performs the drone flight safety control based on the current position of the drone, which can greatly improve the accuracy of the drone flight safety control provided by the embodiment of the present invention.
  • the flying position of the drone may be a designated position in the flight path of the drone. This means that the center of the circular area is fixed, but because the aircraft in the circular area are uncontrollable, the first aircraft information around the flight position of the UAV detected by the above ADS-B module may be Dynamically changing.
  • the designated location described above may be the takeoff point of the drone.
  • the flight position of the drone changes dynamically, the distance caused by the change is compared.
  • the detection range of the ADS-B module (generally several hundred kilometers) is small, so even if the flight position of the drone is specified, the first aircraft information acquired by the terminal will not be affected.
  • the terminal can perform the process shown in FIG. 3 once in a set period.
  • Step 302 The terminal acquires second aircraft information around the flight location of the drone from the outside of the drone through the set client for controlling the drone.
  • the terminal obtains the client from the designated website through the wireless connection or the wired connection through the set client for controlling the drone.
  • the man-machine flight position is a center, information of each aircraft in a circular area having a radius of the detection range of the ADS-B module (denoted as second aircraft information).
  • the flying position of the UAV here may be the flight position of the UAV in real time sent by the positioning module carried by the UAV as described above, or may be the designated position as described above, which is not specifically limited in the embodiment of the present invention.
  • Step 303 The terminal determines, according to the first aircraft information and the second aircraft information, that the ADS-B module is invalid.
  • determining that the ADS-B module fails according to the first aircraft information and the second aircraft information may be implemented in the following four manners:
  • the step of determining the failure of the ADS-B module according to the first aircraft information and the second aircraft information is as shown in FIG. 4, and may include:
  • Step 401 determining an intersection between the aircraft set A in the first aircraft information and the aircraft set B in the second aircraft information.
  • Step 402 Calculate a ratio of the number of aircrafts L in the intersection to the number of aircrafts M in the aircraft set B. When the ratio is less than the first preset threshold, determine that the ADS-B module is invalid.
  • the first preset threshold may be set according to actual conditions. For example, if the requirement for the failure of the ADS-B module is strict, the value of the first preset threshold may be set to be larger. Still.
  • the failure of the ADS-B module can be determined by mode 1.
  • This mode 2 is similar to mode 1, except that before the mode 1 determines that the ADS-B module fails, it is necessary to further include: determining that the aircraft in the aircraft set B having greater than or equal to the set ratio is included in the aircraft set A. When it is determined that an aircraft greater than or equal to the set ratio in the aircraft set B is included in the aircraft set A, it is determined that the ADS-B module fails, and otherwise, the ADS-B module is not invalid.
  • FIG. 5 specifically illustrates the steps of determining the failure of the ADS-B module in Mode 2.
  • the step of determining the failure of the ADS-B module according to the first aircraft information and the second aircraft information, as shown in FIG. 6, may include:
  • Step 601 determining an intersection between the aircraft set A in the first aircraft information and the aircraft set B in the second aircraft information.
  • Step 602 Calculate a ratio of the number of aircrafts L in the intersection to the number N of aircrafts in the aircraft set A. When the ratio is greater than the second preset threshold, determine that the ADS-B module is invalid.
  • the foregoing second preset threshold may be set according to actual conditions. For example, if the requirement for failure of the ADS-B module is strict, the value of the first preset threshold may be set to be larger, and vice versa.
  • the failure of the ADS-B module can be determined by mode 3.
  • the step of determining the failure of the ADS-B module according to the first aircraft information and the second aircraft information is as shown in FIG. 7, and may include:
  • Step 701 When the number of aircrafts of the aircraft set A in the first aircraft information is empty or less than a set threshold, and the number of aircrafts M in the aircraft set B in the second aircraft information is greater than a third preset threshold, Go to step 702.
  • the foregoing third preset threshold may be set according to actual conditions. For example, if the requirement for the failure of the ADS-B module is strict, the value of the first preset threshold may be set to be larger, and vice versa.
  • Step 702 determining that the ADS-B module is invalid.
  • the failure of the ADS-B module can be determined by way 4.
  • the terminal determines that the ADS-B module mounted on the UAV fails by any of the above four methods, the UAV is subjected to safe flight control or a risk warning is issued to the user to control the UAV to avoid the risk. Finally, the purpose of safe flight control is achieved.
  • the flight restriction to the drone includes many restrictions, such as forcing the drone to return to the air; and/or reducing the flying height of the drone, etc., which is not specifically limited.
  • Embodiment 1 So far, the description of Embodiment 1 is completed.
  • FIG. 8 is a networking diagram of an application according to Embodiment 2 of the present invention.
  • the application networking shown in FIG. 8 includes a terminal, a server, a drone, and an outside of the drone.
  • the exterior of the drone may be a designated device external to the designated website and/or drone.
  • the designated website can be some websites that provide information on the flight distribution of the aircraft, such as FlightRadar: www.flightradar24.com, FlightAware: zh.flightaware.com and other websites.
  • the designated device may be some device that provides aircraft flight distribution information, such as equipment in a radar station, equipment in an airport, or other for providing The apparatus and the like of the aircraft information are not specifically limited in the present invention.
  • the terminal is provided with a client capable of communicating with the outside of the drone, the server, and capable of controlling the drone.
  • the client example can be implemented by an APP (application) method, or by an SDK (Software Development Kit), and can also be implemented by adjusting parameters (such as a drone software). There is no limit to this implementation.
  • the client does not access the network when the drone is flying, and cannot communicate with the server.
  • the client can communicate with the server to complete the next flight of the drone. safely control.
  • FIG. 9 is a flowchart of a method according to Embodiment 2 of the present invention.
  • the process is applied to the server described above, which in one example is a server of a drone service provider. As shown in FIG. 9, the process may include the following steps:
  • step 901 the server receives a flight log of the drone sent from the terminal.
  • the client set by the terminal when the drone is flying, the client set by the terminal is not connected to the network, and the terminal cannot communicate with the drone, nor can the flight log of the drone be acquired; and when the drone is completed
  • the terminal accesses the network through the set client, the terminal can communicate with the drone through the network accessed by the set client to obtain the flight log of the drone, and the network accessed by the set client. Communicate with the server to send the acquired flight log of the drone to the server.
  • the flight log herein may include: a flight path of the drone, a list of aircraft information, and the like.
  • the aircraft information list here contains the aircraft information of the surrounding aircraft detected by the ADS-B module carried by the drone in each flight position of the UAV flight path.
  • Step 902 The server acquires, from the received flight log, first aircraft information around the flight location of the drone detected by the ADS-B module carried by the drone.
  • the flight position of the UAV in this step 902 is the absence of the flight date record.
  • the first aircraft information in step 902 is: the aircraft information around the flight position of the drone detected by the ADS-B module of the drone recorded in the aircraft information list.
  • the aircraft information around the flying position of the UAV here is specifically the aircraft information of each aircraft in a circular area centered on the flying position of the UAV and having the radius of the detection range of the ADS-B module.
  • Step 903 The server acquires second aircraft information around the flight location of the drone from outside the drone.
  • the server obtains from the designated website through the wireless connection or the wired connection, which is centered on the flying position of the drone, and the ADS-
  • the detection range of the B module is the information of each aircraft in the circular area of the radius (recorded as the second aircraft information).
  • Step 904 The server determines that the ADS-B module is invalid according to the first aircraft information and the second aircraft information.
  • the server determines that the ADS-B module carried by the drone is invalid, the UAV is subjected to safe flight control, or a risk warning is issued to the user, so that the user controls the drone to avoid the risk and finally achieves the purpose of safe flight control.
  • the server will issue a risk warning to the user whether it is a safe flight control of the drone or not, and the purpose is to determine the ADS-equipped by the drone. Based on the failure of the B module, flight restrictions are imposed on the next flight of the drone to prevent flight risks.
  • the flight restrictions for the next flight of the drone include: The flying height of the human machine, or the flying speed of the drone is limited, and the present invention is not specifically limited.
  • Embodiment 2 So far, the description of Embodiment 2 is completed.
  • FIG. 10 is a flowchart of a method according to Embodiment 3 of the present invention.
  • the networking of the application is similar to the application networking of Embodiment 1 shown in FIG. 2.
  • the client set by the terminal does not access the network when the drone is flying.
  • the process may include the following steps:
  • step 1001 the terminal acquires a flight log of the drone through a client configured to control the drone.
  • the flight log herein may include: a flight path of the drone, a list of aircraft information, and the like.
  • the aircraft information list here contains the aircraft information of the surrounding aircraft detected by the ADS-B module carried by the drone in each flight position of the UAV flight path.
  • Step 1002 The terminal acquires, from the received flight log, first aircraft information around the flight location of the drone detected by the ADS-B module carried by the drone.
  • the UAV flight position is a specified position in the flight path of the UAV recorded on the flight day, such as a takeoff position of the drone, or one of the UAV flight processes. Location and so on.
  • the first aircraft information in step 1002 is: the aircraft information around the flight position of the drone detected by the ADS-B module of the drone recorded in the aircraft information list.
  • the aircraft information around the flying position of the UAV here is specifically the aircraft information of each aircraft in a circular area centered on the flying position of the UAV and having the radius of the detection range of the ADS-B module.
  • step 1003 the terminal acquires second aircraft information around the flight location of the drone from outside the drone.
  • the terminal obtains from the designated website through the wireless connection or the wired connection, which is centered on the flying position of the drone, and the ADS-
  • the detection range of the B module is the information of each aircraft in the circular area of the radius (recorded as the second aircraft information).
  • Step 1004 The terminal determines, according to the first aircraft information and the second aircraft information, that the ADS-B module is invalid.
  • the terminal determines that the ADS-B module carried by the drone is invalid, the UAV is subjected to safe flight control or a risk warning is issued to the user, so that the user controls the drone to avoid the risk and finally achieves the purpose of safe flight control.
  • the processing manner of the ADS-B module in the second embodiment is similar to that in the case where the server determines that the ADS-B module is not in use.
  • the method for flying safety control of the drone can also be performed by the drone.
  • the UAV performs flight safety control, it needs to detect the first aircraft information around the flight position of the drone detected from the ADS-B module carried by the drone, and specify from the outside of the drone.
  • the website or the designated device acquires the second aircraft information around the flight location of the drone, and then actively determines the use of the first aircraft information and the second aircraft information according to any one of the four manners in Embodiment 1.
  • the ADS-B module is invalid.
  • the manner in which the drone performs flight safety control is relatively simple.
  • FIG. 11 is a structural diagram of a control device provided by the present invention. As shown in FIG. 11, the control device includes:
  • a processor configured to acquire first aircraft information around a flight location of the drone detected by the ADS-B module carried by the drone, and acquire a periphery of the flight location from outside the drone Second aircraft information;
  • a controller configured to determine that the ADS-B module is invalid according to the first aircraft information and the second aircraft information.
  • the processor and controller are communicable via a system bus.
  • the acquiring, by the processor from the exterior of the drone, the second aircraft information around the flight location comprises: acquiring from the exterior of the drone at a center of the flight position, with the ADS- The detection range of the B module is the information of the aircraft in the circular area of the radius.
  • the flight position is a position when the drone is sent by the positioning module carried by the drone;
  • the flight position is a designated position in a flight path of the drone.
  • control device is a terminal corresponding to the drone, and the terminal accesses a network when the drone is flying, and the terminal accesses the drone through an accessed network. External to obtain second aircraft information around the flight location.
  • the acquiring, by the processor from the outside of the drone, the second aircraft information around the flight location comprises:
  • control device is a terminal corresponding to the drone, and the terminal does not access the network when the drone is flying;
  • the flight log is obtained from the drone after detecting that the terminal accesses the network.
  • control device is a server; the flight log is obtained by the terminal corresponding to the drone from the drone and sent to the server.
  • the processor acquiring, from the ADS-B module carried by the drone, the first aircraft information around the flight location of the drone detected by the ADS-B module includes:
  • the flight location is one of flight trajectories of the drone recorded on the flight day.
  • the exterior of the drone includes: a designated website and/or a designated device external to the drone;
  • the designated device includes: a device in a radar station, a device in an airport, or other device for providing aircraft information.
  • the controller determines that the ADS-B module is invalid according to the first aircraft information and the second aircraft information, including:
  • the controller before the controller determines that the ADS-B module fails, the controller further includes:
  • the controller determines that the ADS-B module is invalid according to the first aircraft information and the second aircraft information, including:
  • the controller determines that the ADS-B module is invalid according to the first aircraft information and the second aircraft information, including:
  • the controller when the controller detects that the ADS-B module fails, the controller further includes:
  • the safe flight control of the drone includes:
  • the issuing flight restrictions to the drone includes:
  • the safe flight control of the drone includes:
  • the flight restrictions for the next flight of the drone include:
  • the present invention also provides a machine readable storage medium that can be applied to a drone, a terminal, a server.
  • a number of computer instructions are stored on a machine readable storage medium. When the computer instruction is executed, the following processing is performed:
  • the machine-readable storage medium can be any electronic, magnetic, optical, or other physical storage device that can contain or store information such as executable instructions, data, and so forth.
  • the machine-readable storage medium may be: RAM (Radom Access Memory), volatile memory, non-volatile memory, flash memory, storage drive (such as a hard disk drive), solid state drive, any type of storage disk. (such as a disc, dvd, etc.), or a similar storage medium, or a combination thereof.
  • the device embodiment since it basically corresponds to the method embodiment, reference may be made to the partial description of the method embodiment.
  • the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located A place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment. Those of ordinary skill in the art can understand and implement without any creative effort.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention concerne un procédé et un appareil de commande pour la sécurité de vol d'un véhicule aérien sans pilote, et un support de stockage lisible par machine. Le procédé obtient deux types d'informations de vol par l'intermédiaire de deux sources, et consiste : à acquérir des premières informations d'aéronef à partir du milieu environnant d'un véhicule aérien sans pilote à une position de vol détectée par un module ADS-B installé au niveau du véhicule aérien sans pilote (101) ; à acquérir extérieurement des secondes informations d'aéronef à partir du milieu environnant du véhicule aérien sans pilote à la position de vol (102) ; et à déterminer une défaillance du module ADS-B en fonction des premières informations d'aéronef et des secondes informations d'aéronef (103). Une fois que la défaillance du module ADS-B est déterminée en fonction des premières informations d'aéronef et des secondes informations d'aéronef, il existe des risques de sécurité associés au vol du véhicule aérien sans pilote, de telle sorte que des mesures de prévention de risque correspondantes peuvent être mises en œuvre en temps opportun pour assurer une sécurité de vol du véhicule aérien sans pilote, ce qui permet de réaliser un vol en toute sécurité du véhicule aérien sans pilote.
PCT/CN2017/091139 2017-06-30 2017-06-30 Procédé et appareil de commande pour la sécurité de vol d'un véhicule aérien sans pilote, et support de stockage lisible par machine WO2019000406A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2017/091139 WO2019000406A1 (fr) 2017-06-30 2017-06-30 Procédé et appareil de commande pour la sécurité de vol d'un véhicule aérien sans pilote, et support de stockage lisible par machine
CN201780004891.XA CN108475065B (zh) 2017-06-30 2017-06-30 无人机飞行的安全控制方法、设备及机器可读存储介质

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Application Number Priority Date Filing Date Title
PCT/CN2017/091139 WO2019000406A1 (fr) 2017-06-30 2017-06-30 Procédé et appareil de commande pour la sécurité de vol d'un véhicule aérien sans pilote, et support de stockage lisible par machine

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WO2019000406A1 true WO2019000406A1 (fr) 2019-01-03

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