CN104236559B - A kind of vehicle complex control system and method based on the layer architecture of big-dipper satellite four - Google Patents
A kind of vehicle complex control system and method based on the layer architecture of big-dipper satellite four Download PDFInfo
- Publication number
- CN104236559B CN104236559B CN201410459922.9A CN201410459922A CN104236559B CN 104236559 B CN104236559 B CN 104236559B CN 201410459922 A CN201410459922 A CN 201410459922A CN 104236559 B CN104236559 B CN 104236559B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- big
- information
- control
- network
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
Abstract
Vehicle complex control system based on the layer architecture of big-dipper satellite four of the invention, including vacant lot road vehicle tracking and command network network layers, the long-haul telemetry of space base road vehicle and key-course, the wireless sensor network system layer of the transmission of ground road vehicle wide-band-message and key-course, road and vehicle observing and controlling position.Control method of the invention, including：A) equipment arrangement；B) coordinates collection；C) operating state information acquisitions；D) judges wireless communication state；E) wireless network transmissions；F) Big Dippeves data transfer；G) control centres decision-making；H) surface cars control.Vehicle complex control system of the invention and method, in wireless telecommunications under normal circumstances, data are transmitted by radio communication network, and low cost, volume of transmitted data are big, safety can be high；Wrecked when ground communication network or during no signal, then by Beidou satellite transmission, it is ensured that the continuity of information transfer, be advantageously implemented the uninterrupted monitoring and control to travel condition of vehicle.
Description
Technical field
The present invention relates to a kind of vehicle complex control system and method based on the layer architecture of big-dipper satellite four, more specifically
Say, more particularly to it is a kind of the running status of vehicle can be carried out uninterrupted monitoring and control based on the layer architecture of big-dipper satellite four
Vehicle complex control system and method.
Background technology
The ice disaster and earthquake disaster for occurring in recent years, a passage is blocked up and destruction to cause large area, also results in large area
The damage and failure of wired and wireless communication services, if disaster can not unimpededly be communicated when occurring, it will have a strong impact on
Require assistance being smoothed out of work.In addition, such as the poor region of the region length and breadth of land, Base communication environment western part, according to existing
Form of communication, cannot also realize the monitoring and control of travel condition of vehicle, it is impossible to solve just as " visitor of two danger one " haulage vehicle
Security Control Problem.Current GPS/GSM vehicle locations expose essence technological deficiency with communication pattern, in the case of many
Due effect can be lost, existing mechanics of communication has safely and efficiently managed control aspect not in energy-saving and emission-reduction and road vehicle
New technical requirements can be met.
Beidou satellite navigation system is independent research, the GPS of independent operating that China is implementing,
Four Beidou navigation test satellites and seven Beidou navigation satellites have been succeeded in sending up now, will be in system group network and experimental basis
On, progressively expand to GPS.Beidou satellite navigation system construction object be build up it is independent, open and
Appearance, advanced technology, reliable and stable satellite navigation system covering the whole world, have incorporated after Beidou system, can use new
Type wagon control framework.
The content of the invention
A kind of shortcoming in order to overcome above-mentioned technical problem of the invention, there is provided vehicle based on the layer architecture of big-dipper satellite four
Complex control system and method.
Vehicle complex control system based on the layer architecture of big-dipper satellite four of the invention, including vacant lot road vehicle tracking and command network
Network layers, the long-haul telemetry of space base road vehicle and key-course, the transmission of ground road vehicle wide-band-message and key-course, road and vehicle
The wireless sensor network system layer at observing and controlling position, it is particular in that：The vacant lot road vehicle tracking and command network network layers are by north
Bucket satellite and terrestrial wireless communication network composition, terrestrial wireless communication network are used to transmit the travel condition of vehicle letter of surface car collection
Breath, big-dipper satellite sends to control centre travel condition of vehicle information；Space base road vehicle long-haul telemetry and key-course
It is made up of control centre and big-dipper satellite, control centre is stored and sentenced to the travel condition of vehicle information that big-dipper satellite sends
It is disconnected, and produce vehicle control information；The vehicle control information that control centre sends is transmitted through big-dipper satellite；The ground road
Road vehicles bandwidth information is transmitted includes terrestrial wireless communication network and road control node with key-course, and surface car passes through road control
Node processed receives the data of control centre's transmission and sends the measuring state information of itself；The road and vehicle observing and controlling position
Wireless sensor network system layer by various in the Big Dipper locating module, wireless network module and the vehicle that are installed on vehicle
Sensor group is into Big Dipper locating module is used to receive the location data of big-dipper satellite transmission and determines that the geographical position of vehicle is sat
Mark, surface car realizes and the communication between road control node that the sensor in vehicle is used to adopt by wireless network module
Collect the running state information of vehicle.
Vehicle complex control system based on the layer architecture of big-dipper satellite four of the invention, also including being arranged at information centre station
And Beidou beacon node, big-dipper satellite determines the space coordinates of itself, ″Beidou″ beacon section by the communication with information centre station
Point determines the geographical location information of itself by receiving the data of big-dipper satellite transmission.
The control method of the vehicle complex control system based on the layer architecture of big-dipper satellite four of the invention, its special feature exists
In comprising the following steps：A) equipment arrangement, lays communication module on surface car to be controlled, and communication module includes the Big Dipper
Locating module and wireless network module；Treat to lay road control node in the region with control, received by road control node
The information uploaded with forwarding surface car；B) coordinates collection, surface car receives big-dipper satellite and sends by Big Dipper locating module
Location data, the position coordinates of itself is determined by computing；C) operating state information acquisitions, surface car passes through itself
The sensor of arrangement is determined including the travel condition of vehicle information including speed, travel direction, oil consumption and tire pressure；d).
Judge wireless communication state, the communication module being arranged on vehicle judges whether terrestrial wireless communication network can use, if it is available, then
Perform step e)；If terrestrial wireless communication network is unavailable, step f) is performed；E) wireless network transmissions, it is logical in terrestrial wireless
In the case of news net is available, surface car transmits itself running state information and position coordinates by terrestrial wireless communication network
To control centre；F) Big Dippeves data transfer, in the case of terrestrial wireless communication network is disabled, surface car is by the fortune of itself
Row status information and position coordinates are forwarded to control centre by big-dipper satellite；G) control centres decision-making, control centre is by right
The calculating and analysis of the travel condition of vehicle information and position coordinates that receive, make the decision information of control vehicle operation；
H) surface cars control, control centre is sent to surface car decision information by big-dipper satellite or terrestrial wireless communication network,
Surface car controls the operation of itself according to the decision information for receiving.
The beneficial effects of the invention are as follows：Vehicle complex control system of the invention and method, by setting by vacant lot road
Vehicle tracking and command network network layers, the long-haul telemetry of space base road vehicle and key-course, the transmission of ground road vehicle wide-band-message and key-course,
Four layer architectures of the wireless sensor network system layer composition at road and vehicle observing and controlling position, in wireless communication networks normal condition
Under, the running state information and position coordinates of vehicle can be transmitted by the radio communication network on ground, low cost, data transfer
Amount is big, safety can be high；Wrecked when ground communication network or during no signal, then entered by using the communication function of big-dipper satellite
Row data transfer, it is ensured that the continuity of information transfer, is advantageously implemented the uninterrupted monitoring and control to travel condition of vehicle.
The vehicle complex control system of invention and having the beneficial effect that for method：
（1）, the distinguishing hierarchy of science is carried out with the inscape of control platform by being positioned to road vehicle, effective hair
Each maximum efficiency to be gone has been waved, vehicle location and control platform can have preferably been built.
（2）, to use Beidou navigation satellite technology in orbit be to rely on, and sets up the round-the-clock disaster-resistant type road vehicle of space base
Positioning and control platform.
（3）, using wireless sensor network technology（WSN）Determine with the ground synthesis road vehicle based on wireless communication technique
Position and TT＆C system, realize low cost, traffic observing and controlling on a large scale, are conducive to hazardous materials transportation and automobile energy-saving environmental protection interior
The solution of different kinds of roads vehicle problem.
（4）, using the collection of Beidou satellites/WSN technology, extract, transmission vehicle status data information, form vehicle-state
The distributed intelligence network system of information, makes that car status information is accurate, transmitting.
Brief description of the drawings
Fig. 1 is the schematic diagram of the vehicle complex control system based on the layer architecture of big-dipper satellite four of the invention；
Fig. 2 is the schematic diagram that surface car is positioned using big-dipper satellite in the present invention；
Fig. 3 is the schematic diagram that surface car carries out networking in the present invention.
In figure：1 big-dipper satellite, 2 Beidou beacon nodes, 3 sensor nodes, 4 information centre stations, 5 terrestrial wireless communication networks,
6 Internet networks, 7 users, 8 surface cars, 9 road control nodes.
Specific embodiment
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
As depicted in figs. 1 and 2, the vehicle complex control system based on the layer architecture of big-dipper satellite four of the invention is given
Schematic diagram and the schematic diagram positioned using big-dipper satellite, it includes vacant lot road vehicle tracking and command network network layers, space base
Road vehicle long-haul telemetry and key-course, the transmission of ground road vehicle wide-band-message and key-course, road and vehicle observing and controlling position
Wireless sensor network system layer.Vacant lot road vehicle tracking and command network network layers are by 5 groups of big-dipper satellite 1 and terrestrial wireless communication network
Into the long-haul telemetry of space base road vehicle is made up of with key-course control centre and big-dipper satellite, ground road vehicle bandwidth information
Transmission includes the wireless senser of terrestrial wireless communication network 5 and road control node 9, road and vehicle observing and controlling position with key-course
Network system layer by the various sensor groups in the Big Dipper locating module, wireless network module and the vehicle that are installed on vehicle into.
Communication module is laid with surface car 8, communication module is made up of Big Dipper locating module and wireless network module, ground
Face vehicle receives the location data that big-dipper satellite sends by Big Dipper locating module, realizes self poisoning；Surface car is by certainly
The running state information of the sensor collection vehicle of body, such as speed, travel direction, oil consumption and tire pressure.Surface car leads to
Cross wireless network module and can be transmitted and receive data.
Shown ground communications net 5 can be 3G network, and sensor node 3 is the surface car for being laid with communication module, road
Road control node 9 is to be laid in certain area coverage the routing node of realizing vehicle networking, for forward and receive vehicle with
Data between wireless network.Big-dipper satellite 1 determines the locus coordinate of itself by information centre station 4, to ensure the Big Dipper
The accuracy of satellite fix；Beidou beacon node 2 is arranged on ground, and the positioning to big-dipper satellite 1 is calibrated, and is further carried
High position precision.
Surface car 8（Equivalent to sensor node 3）Upper data waiting for transmission, can pass sequentially through road control node 9,
Face radio communication network 5, Internet network 6 are uploaded to control centre, can also be uploaded by big-dipper satellite 1, Internet network
To control centre.Control centre is processed the travel condition of vehicle information and positional information that receive, makes control car
The decision-making of operation, then is issued to surface car 8 by corresponding communication path, is controlled with the running status to vehicle.
The control method of the vehicle complex control system based on the layer architecture of big-dipper satellite four of the invention, by following steps
To realize：
A) equipment arrangement, in surface car to be controlled（8）Upper laying communication module, communication module is positioned including the Big Dipper
Module and wireless network module；Treat to lay road control node in the region with control, receive and turn by road control node
The information that hair surface car is uploaded；
B) coordinates collection, surface car receives big-dipper satellite by Big Dipper locating module（1）The location data of transmission, leads to
Cross computing and determine the position coordinates of itself；
C) operating state information acquisitions, surface car is determined including speed, traveling side by the sensor that itself is arranged
To, oil consumption and tire pressure in interior travel condition of vehicle information；
D) judges wireless communication state, and the communication module being arranged on vehicle judges whether terrestrial wireless communication network can use,
If it is available, then performing step e)；If terrestrial wireless communication network is unavailable, step f) is performed；
E) wireless network transmissions, in the case of terrestrial wireless communication network is available, surface car is by the running status of itself
Information and position coordinates are transmitted to control centre by terrestrial wireless communication network；
F) Big Dippeves data transfer, in the case of terrestrial wireless communication network is disabled, surface car is by the operation shape of itself
State information and position coordinates are forwarded to control centre by big-dipper satellite；
G) control centres decision-making, control centre is by the travel condition of vehicle information and the meter of position coordinates to receiving
Calculate and analyze, make the decision information of control vehicle operation；
H) surface cars control, control centre by big-dipper satellite or terrestrial wireless communication network by decision information send to
Surface car, surface car controls the operation of itself according to the decision information for receiving.
Vehicle complex control system and method based on the layer architecture of big-dipper satellite four of the invention, in wireless communication networks just
In the case of often, the running state information and position coordinates of vehicle can be transmitted by the radio communication network on ground, low cost, number
Greatly, safely can be high according to transmission quantity；Wrecked when ground communication network or during no signal, then by using the communication of big-dipper satellite
Function carries out data transmission, it is ensured that the continuity of information transfer, is advantageously implemented the uninterrupted monitoring to travel condition of vehicle
And control.
Claims (3)
- A kind of 1. vehicle complex control system based on the layer architecture of big-dipper satellite four, including vacant lot road vehicle tracking and command network network layers, The long-haul telemetry of space base road vehicle and key-course, the transmission of ground road vehicle bandwidth information and key-course, road and vehicle observing and controlling The wireless sensor network system layer at position, it is characterised in that：The vacant lot road vehicle tracking and command network network layers are by big-dipper satellite（1） With terrestrial wireless communication network（5）Composition, terrestrial wireless communication network is used to transmit surface car（8）The travel condition of vehicle letter of collection Breath, big-dipper satellite sends to control centre travel condition of vehicle information；Space base road vehicle long-haul telemetry is made up of with key-course control centre and big-dipper satellite, and control centre defends to the Big Dipper The travel condition of vehicle information that star sends is stored and judged, and produces vehicle control information；The vehicle that control centre sends Control information is transmitted through big-dipper satellite；The ground road vehicle bandwidth information transmission includes terrestrial wireless communication network with key-course（5）With road control node （9）, data and send the travel condition of vehicle of itself that surface car is sent by road control node reception control centre Information；Road control node is to be laid in certain area coverage the routing node for realizing vehicle networking, for forwarding and receiving Data between vehicle and terrestrial wireless communication network；The road and vehicle observing and controlling position wireless sensor network system layer by be installed on vehicle Big Dipper locating module, Various sensor groups in wireless network module and vehicle are into Big Dipper locating module is used to receive the positioning number of big-dipper satellite transmission According to and determine the geographical position coordinates of vehicle, surface car is realized logical and road control node between by wireless network module News, the sensor in vehicle is used for the running state information of collection vehicle；In the case of terrestrial wireless communication network is available, surface car is by itself running state information and position coordinates by ground Face radio communication network is transmitted to control centre；In the case of terrestrial wireless communication network is disabled, surface car is by the fortune of itself Row status information and position coordinates are forwarded to control centre by big-dipper satellite.
- 2. the vehicle complex control system based on the layer architecture of big-dipper satellite four according to claim 1, it is characterised in that：Also Including information centre station（4）And Beidou beacon node（2）, big-dipper satellite determines itself by the communication with information centre station Space coordinates, Beidou beacon node determines the geographical location information of itself by receiving the data of big-dipper satellite transmission.
- 3. a kind of controlling party of the vehicle complex control system based on the layer architecture of big-dipper satellite four based on described in claim 1 Method, it is characterised in that comprise the following steps：A) equipment arrangement, in surface car to be controlled（8）Upper laying communication module, communication module includes Big Dipper locating module And wireless network module；Road control node is laid in region to be controlled, is received by road control node and is forwarded ground The information that face vehicle is uploaded；B) coordinates collection, surface car receives big-dipper satellite by Big Dipper locating module（1）The location data of transmission, by fortune The position coordinates of itself is determined in calculation；C) operating state information acquisitions, surface car by the sensor that itself is arranged determine including speed, travel direction, Oil consumption and tire pressure are in interior travel condition of vehicle information；D) judges wireless communication state, and the communication module being arranged on vehicle judges whether terrestrial wireless communication network can use, if Can use, then perform step e)；If terrestrial wireless communication network is unavailable, step f) is performed；E) wireless network transmissions, in the case of terrestrial wireless communication network is available, surface car is by the running state information of itself Transmitted to control centre by terrestrial wireless communication network with position coordinates；Perform step g)；F) Big Dippeves data transfer, in the case of terrestrial wireless communication network is disabled, surface car believes the running status of itself Breath and position coordinates are forwarded to control centre by big-dipper satellite；Perform step g)；G) control centres decision-making, control centre by the calculating of travel condition of vehicle information and position coordinates to receiving and Analysis, makes the decision information of control vehicle operation；H) surface cars control, control centre is sent to ground decision information by big-dipper satellite or terrestrial wireless communication network Vehicle, surface car controls the operation of itself according to the decision information for receiving.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410459922.9A CN104236559B (en) | 2014-09-11 | 2014-09-11 | A kind of vehicle complex control system and method based on the layer architecture of big-dipper satellite four |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410459922.9A CN104236559B (en) | 2014-09-11 | 2014-09-11 | A kind of vehicle complex control system and method based on the layer architecture of big-dipper satellite four |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104236559A CN104236559A (en) | 2014-12-24 |
| CN104236559B true CN104236559B (en) | 2017-06-09 |
Family
ID=52225105
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410459922.9A Expired - Fee Related CN104236559B (en) | 2014-09-11 | 2014-09-11 | A kind of vehicle complex control system and method based on the layer architecture of big-dipper satellite four |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104236559B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107942743B (en) * | 2017-11-20 | 2019-07-12 | 中国运载火箭技术研究院 | A kind of measurement and control system of aircraft and method based on steel tower base station |
| CN109952857B (en) * | 2019-04-22 | 2024-04-05 | 山东交通学院 | Orchard mower capable of automatically completing mowing operation and method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1796941A (en) * | 2004-12-30 | 2006-07-05 | 华为技术有限公司 | Car borne communication and navigation equipment for realization of detecting cars mobilely and remotely |
| CN102390410A (en) * | 2011-06-23 | 2012-03-28 | 中国北车股份有限公司大连电力牵引研发中心 | Vehicle monitoring system based on Beidou system and control method thereof |
| CN102841363A (en) * | 2012-08-24 | 2012-12-26 | 北斗天汇（北京）科技有限公司 | Vehicle navigation monitoring system |
| CN202998482U (en) * | 2012-08-30 | 2013-06-12 | 杭州星软科技有限公司 | Transport vehicle real-time monitoring scheduling system based on big dipper and 3G |
| CN103561448A (en) * | 2013-11-18 | 2014-02-05 | 上海海洋大学 | Wireless ad-hoc network quick routing method based on Beidou satellite navigation system |
| CN203773736U (en) * | 2014-02-21 | 2014-08-13 | 福建金友网络科技有限公司 | Beidou and 4G network based vehicle-mounted real-time monitoring and dispatching system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6836726B2 (en) * | 2002-10-04 | 2004-12-28 | Integrasys, S.A. | Satellite and terrestrial remote monitoring system for wireless handheld mobile terminals |
-
2014
- 2014-09-11 CN CN201410459922.9A patent/CN104236559B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1796941A (en) * | 2004-12-30 | 2006-07-05 | 华为技术有限公司 | Car borne communication and navigation equipment for realization of detecting cars mobilely and remotely |
| CN102390410A (en) * | 2011-06-23 | 2012-03-28 | 中国北车股份有限公司大连电力牵引研发中心 | Vehicle monitoring system based on Beidou system and control method thereof |
| CN102841363A (en) * | 2012-08-24 | 2012-12-26 | 北斗天汇（北京）科技有限公司 | Vehicle navigation monitoring system |
| CN202998482U (en) * | 2012-08-30 | 2013-06-12 | 杭州星软科技有限公司 | Transport vehicle real-time monitoring scheduling system based on big dipper and 3G |
| CN103561448A (en) * | 2013-11-18 | 2014-02-05 | 上海海洋大学 | Wireless ad-hoc network quick routing method based on Beidou satellite navigation system |
| CN203773736U (en) * | 2014-02-21 | 2014-08-13 | 福建金友网络科技有限公司 | Beidou and 4G network based vehicle-mounted real-time monitoring and dispatching system |
Non-Patent Citations (2)
| Title |
|---|
| 基于北斗/GPS/BGAN卫星技术的应急指挥监控系统;王孝广等;《交通信息与安全》;20091231;第27卷(第2期总147期);全文 * |
| 基于北斗定位系统的新型无线传感器网络路由算法;顾一中等;《兵工学报》;20090331;第30卷(第3期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104236559A (en) | 2014-12-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105644559B (en) | A kind of unmanned method and system based on virtual rail and Moving Block Technology in UMT | |
| CN100568143C (en) | A kind of middle-size and small-size no-manned machine reclaiming positioning apparatus | |
| CN111212384B (en) | Unmanned aerial vehicle multi-data-chain intelligent switching method | |
| CN203745655U (en) | Multifunctional environment monitoring unmanned aerial vehicle system | |
| CN109118764A (en) | A kind of car networking communication system based on ZigBee | |
| CN104875773A (en) | Train control system based on satellite communication and public cellular communication | |
| CN105119650A (en) | Signal relay system based on unmanned aircraft, and signal relay method thereof | |
| CN108415057B (en) | Relative positioning method for cooperative work of unmanned fleet and road side unit | |
| CN106464344A (en) | Multiple modem communication system and method for a mobile platform | |
| CN107358809A (en) | Personalized traffic safety information supplying system and method | |
| CN110550212A (en) | air-ground cooperative unmanned system | |
| CN106023656A (en) | Intelligent low-altitude traffic management control center | |
| CN105763423B (en) | A kind of unmanned plane information switching method | |
| CN107323484A (en) | Train control system based on Big Dipper short message and truck traffic | |
| CN106546236B (en) | Based on architecture structure drawing from the offshore platform personnel positioning navigation system of host computer | |
| CN104236559B (en) | A kind of vehicle complex control system and method based on the layer architecture of big-dipper satellite four | |
| Fu et al. | A network-level connected autonomous driving evaluation platform implementing C-V2X technology | |
| CN205769347U (en) | A kind of train Precise Position System based on comprehensive location | |
| CN105610489A (en) | Low-altitude airspace monitoring system based on urban wireless communication network | |
| CN106411388A (en) | Unmanned aerial vehicle information transmission system based on FPGA | |
| Raj et al. | An aerial intelligent relay-road side unit (AIR-RSU) framework for modern intelligent transportation system | |
| US20170308079A1 (en) | Apparatus and method for semi-automated vehicle control | |
| Jaafar et al. | HAPS-ITS: Enabling future ITS services in trans-continental highways | |
| KR102475866B1 (en) | Surveillance method for unmanned aerial vehicle, and surveillance apparatus for the same | |
| CN110138439B (en) | Communication method and device based on space-time air-ground vehicle special network |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170609 Termination date: 20190911 |