CN106789463A - A kind of sensing data based on unmanned plane IPv6ization accesses Transmission system and method - Google Patents
A kind of sensing data based on unmanned plane IPv6ization accesses Transmission system and method Download PDFInfo
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 31
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000004891 communication Methods 0.000 claims abstract description 34
- 230000003750 conditioning effect Effects 0.000 claims abstract description 4
- 230000009466 transformation Effects 0.000 claims abstract description 3
- 230000004927 fusion Effects 0.000 claims description 15
- 238000012545 processing Methods 0.000 claims description 11
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 9
- 238000005538 encapsulation Methods 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 8
- 238000006243 chemical reaction Methods 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 7
- 230000006978 adaptation Effects 0.000 claims description 6
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- 230000006837 decompression Effects 0.000 claims description 3
- 238000005194 fractionation Methods 0.000 claims description 3
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- 235000006508 Nelumbo nucifera Nutrition 0.000 claims description 2
- 235000006510 Nelumbo pentapetala Nutrition 0.000 claims description 2
- 230000003993 interaction Effects 0.000 claims description 2
- 230000002123 temporal effect Effects 0.000 claims description 2
- 238000012546 transfer Methods 0.000 abstract description 5
- 230000032683 aging Effects 0.000 abstract description 4
- 239000007789 gas Substances 0.000 description 9
- 239000013307 optical fiber Substances 0.000 description 5
- MWUXSHHQAYIFBG-UHFFFAOYSA-N nitrogen oxide Inorganic materials O=[N] MWUXSHHQAYIFBG-UHFFFAOYSA-N 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000005693 optoelectronics Effects 0.000 description 2
- NINIDFKCEFEMDL-UHFFFAOYSA-N Sulfur Chemical compound [S] NINIDFKCEFEMDL-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/2854—Wide area networks, e.g. public data networks
- H04L12/2856—Access arrangements, e.g. Internet access
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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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/06—Notations for structuring of protocol data, e.g. abstract syntax notation one [ASN.1]
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- Computer Security & Cryptography (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Selective Calling Equipment (AREA)
Abstract
Transmission system and method are accessed the invention discloses a kind of sensing data based on unmanned plane IPv6ization, its system includes sensor load, carries the IPv6ization unmanned plane carrier platform of sensor load, and ground remote control remote unit；Ground remote control remote unit is connected with IPv6ization unmanned plane carrier platform by communication；Sensor load is used for information gathering, and information to collecting carries out waveform conditioning, patten transformation, generates telemetry；IPv6ization unmanned plane carrier platform is used to for telemetry and remote-control data to be packaged coding, the network packet of the protocol generation IPv6ization according to agreement；On the one hand ground remote control remote unit is used to control attitude and the course line of IPv6ization unmanned plane carrier platform, on the other hand for obtaining telemetry and UAV Attitude data according to network data Packet analyzing；Its method is based on the system, and the sensing data for realizing unmanned plane IPv6ization accesses transmission, and the data transfer that improve the sensor of unmanned plane and its carrying is ageing, with global unique addressing characteristic.
Description
Technical field
The invention belongs to field of sensing technologies, connect more particularly, to a kind of sensing data based on unmanned plane IPv6ization
Enter Transmission system and method.
Background technology
At present, unmanned plane is relatively independent with sensing data access Transmission system, and unmanned plane only provides sensor installation and connects
Mouthful or power supply interface, the access transport module of sensing data exists independently of unmanned plane, it is impossible to by the telemetry of sensor with
The remote-control data of unmanned plane is fully merged realizes synchronous transfer, and system data communication is ageing low；Also, do not support to expand
The access transmission of various detection sensors is opened up, set expandability is poor；In addition, not supporting unmanned plane and its carrying the unique of sensor
Addressing function, security of system is poor.
The content of the invention
For the disadvantages described above or Improvement requirement of prior art, the invention provides a kind of biography based on unmanned plane IPv6ization
Sense data access Transmission system and method, its object is to improving unmanned plane and carrying the data transfer timeliness of sensor thereon
Property, and realize unique addressing.
To achieve the above object, according to one aspect of the present invention, there is provided a kind of sensing based on unmanned plane IPv6ization
Data access Transmission system, including sensor load, IPv6ization unmanned plane carrier platform and ground remote control remote unit；
Wherein, sensor load is mounted on IPv6ization unmanned plane carrier platform, and both are connected by data-interface, ground
Data interaction is carried out by communication between remote-control romote-sensing unit and IPv6ization unmanned plane carrier platform；
Wherein, sensor load is used for information gathering, and information to collecting carries out waveform conditioning, patten transformation, raw
Into data signal；And data processing is carried out to data signal, obtain telemetry；
IPv6ization unmanned plane carrier platform is used to for telemetry and remote-control data to be packaged coding, according to the association of agreement
View generation IPv6 packets；Wherein, remote-control data includes the nothing that the no-manned machine distant control that the carrier platform is received is instructed and sent
Man-machine attitude data；
On the one hand ground remote control remote unit is used to send no-manned machine distant control instruction to IPv6ization unmanned plane carrier platform, with
The attitude of IPv6ization unmanned plane carrier platform is controlled, the IPv6 data on the other hand being sent according to IPv6ization unmanned plane carrier platform
Packet analyzing obtains telemetry and UAV Attitude data, realizes that the sensing data of unmanned plane IPv6ization accesses transmission, thus real
Access and data transfer the unique IPv6 addresses in the whole world of existing UAV Maneuver platform and the sensor load for carrying thereon.
Preferably, the above-mentioned sensing data based on unmanned plane IPv6ization accesses Transmission system, its IPv6ization unmanned plane carrier
Platform is based on unmanned plane, also including flight control navigation module, carrier load data Fusion Module, IPv6 coding modules and first
Wireless communication module；
The first end of carrier load data Fusion Module as IPv6ization unmanned plane carrier platform data-interface, the second end
It is connected with flight control navigation module, the 3rd end is connected with the first end of IPv6 coding modules；Second end of IPv6 coding modules
It is connected with the first wireless communication module；
Wherein, flight control navigation module is used to carry out attitude control to IPv6ization unmanned plane carrier platform according to remote signal
System and navigation；
Carrier load data Fusion Module is used to be sealed remote-control data with telemetry according to the communication protocol of agreement
Dress, realize remote-control romote-sensing information fusion, with improve communication bandwidth with it is ageing；
IPv6 coding modules are used to for the fused data that carrier load data Fusion Module is exported further to be packaged into network
Packet；
First wireless communication module is used to for above-mentioned network packet to be sent to ground remote control remote unit, and for receiving
The telecommand that ground telemetering RCU sends.
Preferably, the above-mentioned sensing data based on unmanned plane IPv6ization accesses Transmission system, and its sensor load includes phase
The sensor detecting module and load data processing module for connecting；The output end of load data processing module is carried as sensor
The data-interface of lotus；
Wherein sensor detecting module is used to gather the information for intending detection；Load data processing module is used for collecting
Information carries out signal conversion, signal condition and analog-to-digital conversion process, generates telemetry.
Preferably, the above-mentioned sensing data based on unmanned plane IPv6ization accesses Transmission system, its ground remote control remote unit
Including the second wireless communication module, remote control module and the data resolution module that are sequentially connected；By the second wireless communication module with
Above-mentioned first wireless communication module realizes the radio communication between IPv6ization unmanned plane carrier platform and ground remote control remote unit；
Remote control module is used to be instructed according to UAV Attitude data genaration no-manned machine distant control, and the instruction passes through the second channel radio
Letter module sends to IPv6ization unmanned plane carrier platform, realizes the gesture stability to unmanned plane and navigation；And for by
Two wireless communication module receiving network data bags；
Data resolution module then carries out the fractionation and decompression of network packet according to the agreement of agreement, obtains telemetry
And remote-control data；Detection information is obtained by carrying out decoding to telemetry；And according to the remote control number obtained from network packet
According to UAV Attitude data are obtained, instructed according to UAV Attitude data genaration no-manned machine distant control；Thus achieve unmanned plane
The access transmission of IPv6ization sensing data.
It is another aspect of this invention to provide that providing a kind of sensing data based on unmanned plane IPv6ization based on said system
Access transmission method, comprises the following steps：
(1) according to the sensing data generation telemetry for collecting；
(2) IPv6 parsing encapsulation adaptation layers are increased in standard ICP/IP protocol；In IPv6 parsing encapsulation adaptation layers
In IPv6 data payloads, remote-control data is merged and encapsulated with telemetry according to the agreement of agreement, generated network data
Bag；
(3) receiving terminal is decoupled and is decompressed to the network packet for receiving, obtained telemetry and remote-control data；
(4) telemetry is parsed, measurement value sensor value is reduced, and measured value value is corresponding
Unmanned plane carrier platform space three-dimensional coordinate (x, y, z) and temporal information t for measuring the moment map correspondence, generation data row one by one
Table (value, x, y, z, t)；
Remote-control data is parsed, UAV Attitude data are obtained；According to UAV Attitude and the environment number for intending detection
Instructed according to generation no-manned machine distant control.
Preferably, above-mentioned sensing data access transmission method, the frame format tool of the payload payload of the agreement of agreement
Body is：
Beginning flag bit, remote-control romote-sensing data payload length bits, message frame indexed bits, hair message frame device systems
Number bit, hair message frame unit bit, payload message Bale No. bit, remote-control romote-sensing data bit, check bit.
In general, by the contemplated above technical scheme of the present invention compared with prior art, can obtain down and show
Beneficial effect：
(1) a kind of sensing data access transmission method based on unmanned plane IPv6ization that the present invention is provided, improves unmanned plane
And its sensor for carrying data transfer is ageing, set expandability, unique addressing characteristic and the security of system in the whole world, it is great
Application value；
(2) a kind of sensing data access transmission method based on unmanned plane IPv6ization that the present invention is provided, improves system
Autgmentability and compatibility；
(3) a kind of sensing data access transmission method based on unmanned plane IPv6ization that the present invention is provided, meets system complete
Ball uniquely addresses characteristic and data security requirement.
Brief description of the drawings
Fig. 1 is the system schematic that the sensing data based on unmanned plane IPv6ization that embodiment is provided accesses Transmission system；
Fig. 2 is the data flow figure of load carrier data fusion in embodiment；
Fig. 3 is the sensing data access transmission method schematic flow sheet based on unmanned plane IPv6ization in embodiment；
Fig. 4 is the protocol frame format schematic diagram in embodiment；
Fig. 5 is the schematic flow sheet for carrying out data encapsulation in embodiment according to agreement.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as additionally, technical characteristic involved in invention described below each implementation method
Not constituting conflict each other can just be mutually combined.
Transmission system and method as specific implementation are accessed with a kind of optical fiber gas sensing based on unmanned plane IPv6ization below
Example is specifically described the present invention；This system that embodiment is provided, mould is detected using fiber gas sensor as sensor
Block；Its system block diagram is as shown in Figure 1；Including sensor load, IPv6ization unmanned plane carrier platform and ground remote control remote unit；
Sensor load is mounted on IPv6ization unmanned plane carrier platform, and the carrier platform is by communication and ground
Face remote-control romote-sensing unit communication, realizes the unique IPv6 in the whole world of the optical fiber gas sensing load of unmanned plane carrier platform and its carrying
Access and data-transformation facility address.
In the present embodiment, sensor load includes optical fiber gas sensing detecting module and load data the treatment mould of interconnection
Block；Wherein, optical fiber gas sensing detecting module is used to carry out dusty gas (for example nitrogen oxides in optical sensing region：NO with
NO2, sulfur-containing oxide：SO2 and SO3, CO) gas sensing property optical detection, and the optical signal that will be detected is electric signal；Embodiment
In, opto-electronic conversion is completed using such as photoelectric detector PD；
Load data processing module is then used to for the voltage signal that opto-electronic conversion is generated to carry out waveform conditioning, (including amplify,
Shaping and filtering), analog-to-digital conversion is cached after generation telemetry；In the present embodiment, telemetry is returned by sampling order
One changes average value processing, and is sent to IPv6ization unmanned plane carrier platform by RS232-TTL standard interfaces.
IPv6ization unmanned plane carrier platform is based on unmanned plane, also melts including flight control navigation module, carrier load data
Matched moulds block, IPv6 coding modules and the first wireless communication module；
Flight control navigation module is used for attitude and the course line of the telecommand control unmanned plane sent according to ground, has
Course line capacity of will, and UAV Attitude data are sent to carrier load data fusion mould by RS232-TTL standard interfaces
Block；
As shown in Fig. 2 carrier load data Fusion Module is navigated with flight control respectively by RS232-TTL standard interfaces
The load data processing module connection of module, IPv6 geocodings module and sensor load.
Carrier load data Fusion Module according to agreement agreement, by UAV Attitude information, remote information and remote measurement number
According to treatment is packaged, the integration of remote-control romote-sensing information fusion is realized, to save communication bandwidth, improve the real-time of communication；This
In embodiment above-mentioned encapsulation process is carried out according to the rendezvous protocol shown in Fig. 3；
In embodiment, the frame format of the payload payload of the agreement of agreement is specially：Beginning flag STX bits, remote control
Telemetry payload length LEN bits, message frame number SEQ bits, hair message frame device systems SYS bits, hair message frame
Unit COMP bits, payload message Bale No. MSG bits, remote-control romote-sensing data bit, check bit；
Specific encapsulation process process is as shown in Figure 4：Lift disappearing corresponding to payload message Bale No. MSG from caching
Breath pack arrangement, write-in origin identification STX；The default load length LEN of message is extracted, packet is write；Extract hair message frame equipment
System number SYS, unit number COMP, packet is write successively；Remote-control romote-sensing data bit is inserted, CRC check value is calculated and is write
Enter packet, calculate message frame number SEQ, write packet.
IPv6 geocodings module is then used to realize 128 IPv6 whole world unique encodings of unmanned plane, and as shown in Figure 3
Framework in, increased IPv6 parsing encapsulation adaptation layer, by IPv6 parse encapsulation adaptation layer above-mentioned packet is further sealed
Dress up network packet；Network packet is transmitted to ground remote control remote unit by the first wireless communication module.
Ground remote control unit includes the second nothing with the first radio communication mold Block- matching of IPv6ization unmanned plane carrier platform
Line communication module, remote control module and data resolution module；Wireless communication module can use station telecommunication module, or other offers
The network communication module of RS232-TTL standard interfaces；Remote control module is used to generate no-manned machine distant control instruction, and the instruction passes through second
Wireless communication module sends to IPv6ization unmanned plane carrier platform, realizes the gesture stability to unmanned plane and navigation；And be used for
By the second wireless communication module receiving network data bag；In embodiment, above-mentioned RS232-TTL standard interfaces can also be used
The interface of the types such as RS232, USB, RJ45 replaces.
Data resolution module then carries out the fractionation and decompression of network packet according to the agreement of agreement, obtains telemetry
And remote-control data；Decoded by telemetry, obtain telemetry intelligence (TELINT)；And according to the remote control number obtained from network packet
According to UAV Attitude data are obtained, instructed according to UAV Attitude data genaration no-manned machine distant control；In the present embodiment, remote control mould
256KB RAM storage chips are equipped with block, remote-control romote-sensing data Dynamic iterations caching on storage chip parses mould for data
Block is called.
Data resolution module is decoupled by network packet, obtains UAV Attitude data and telemetry；Pass through
Telemetry is parsed, by measurement value sensor (value) reduction, and by measured value (value) with measurement the moment nothing
Man-machine carrier platform space three-dimensional coordinate (x, y, z) and time (t) information map correspondingly one by one, formation data list (value,
X, y, z, t), the SD card of ground remote control remote unit is stored in TXT text formattings, for taking at any time.
This optical fiber gas sensing based on unmanned plane IPv6ization that embodiment is provided accesses Transmission system and method, data
Transmission real-time is high, and with global unique addressing characteristic, improves Information Security；Nothing can be realized in same terminal
Man-machine remote control receives parsing with telemetry；Can be used for the detection of gas of danger zone, closely processed without manpower, protect
Personal security, great application value.
As it will be easily appreciated by one skilled in the art that the foregoing is only presently preferred embodiments of the present invention, it is not used to
The limitation present invention, all any modification, equivalent and improvement made within the spirit and principles in the present invention etc., all should include
Within protection scope of the present invention.
Claims (6)
1. a kind of sensing data based on unmanned plane IPv6ization accesses Transmission system, it is characterised in that including sensor load,
IPv6ization unmanned plane carrier platform and ground remote control remote unit；
The sensor load is mounted on IPv6ization unmanned plane carrier platform, is passed through with the IPv6ization unmanned plane carrier platform
Data-interface is connected；The ground remote control remote unit enters line number with IPv6ization unmanned plane carrier platform by communication
According to interaction；
The sensor load is used for information gathering, and the information to collecting carries out waveform conditioning, patten transformation, generation numeral letter
Number；And data processing is carried out to the data signal, obtain telemetry；
The IPv6ization unmanned plane carrier platform is used to for telemetry and remote-control data to be packaged coding, according to the association of agreement
The network packet of view generation IPv6ization；The remote-control data includes no-manned machine distant control instruction and UAV Attitude data；
On the one hand the ground remote control remote unit is used to send no-manned machine distant control instruction to IPv6ization unmanned plane carrier platform, with
Attitude and the course line of IPv6ization unmanned plane carrier platform are controlled, on the other hand for being sent according to IPv6ization unmanned plane carrier platform
Network data Packet analyzing obtain telemetry and UAV Attitude data, realize unmanned plane IPv6ization sensing data access biography
It is defeated.
2. sensing data as claimed in claim 1 accesses Transmission system, it is characterised in that the IPv6ization unmanned plane carrier is put down
Stylobate is wireless in unmanned plane, including flight control navigation module, carrier load data Fusion Module, IPv6 coding modules and first
Communication module；
The first end of the carrier load data Fusion Module as IPv6ization unmanned plane carrier platform data-interface, the second end
It is connected with flight control navigation module, the 3rd end is connected with the first end of IPv6 coding modules；The of the IPv6 coding modules
Two ends are connected with the first wireless communication module；
It is described flight control navigation module be used for according to remote signal IPv6ization unmanned plane carrier platform is carried out gesture stability with
Navigation；
The carrier load data Fusion Module is used to be packaged remote-control data with telemetry according to the agreement of agreement, real
Existing remote-control romote-sensing information fusion；
The IPv6 coding modules are used to for the fused data that carrier load data Fusion Module is exported to be packaged into network packet；
The network packet is sent to ground remote control remote unit by the first wireless communication module.
3. sensing data as claimed in claim 1 or 2 accesses Transmission system, it is characterised in that the sensor load includes
The sensor detecting module and load data processing module of interconnection；The output end of the load data processing module is used as to pass
The data-interface of sensor load；
The sensor detecting module is used to gather the information for intending detection, and load data processing module is used for the information to collecting
Carry out signal conversion, signal condition and analog-to-digital conversion process.
4. sensing data as claimed in claim 1 or 2 accesses Transmission system, it is characterised in that the ground remote control remote measurement list
Unit includes the second wireless communication module, remote control module and the data resolution module that are sequentially connected；By the second wireless communication module
Realize the radio communication between the IPv6ization unmanned plane carrier platform and ground remote control remote unit；
The remote control module is used for the telecommand according to UAV Attitude data genaration unmanned plane, and for wireless by second
Communication module receiving network data bag；The telecommand is sent to IPv6ization unmanned plane by second wireless communication module
Carrier platform；
The data resolution module is used to be carried out according to the agreement of agreement the fractionation and decompression of network packet, obtains remote measurement number
According to and remote-control data；Detection information is obtained by carrying out decoding to telemetry；And unmanned plane is obtained according to the remote-control data
Attitude data.
5. a kind of sensing data based on described in any one of Claims 1-4 access Transmission system based on unmanned plane IPv6ization
Sensing data access transmission method, it is characterised in that comprise the following steps：
(1) according to the sensing data generation telemetry for collecting；
(2) IPv6 parsing encapsulation adaptation layers are increased in standard ICP/IP protocol；In the IPv6 numbers of IPv6 parsing encapsulation adaptation layers
According to load, remote-control data is merged and encapsulated with the telemetry according to the agreement of agreement, generated network packet；
(3) receiving terminal is decoupled and is decompressed to the network packet for receiving, obtained telemetry and remote-control data；
(4) telemetry is parsed, measurement value sensor value is reduced, and measured value value is corresponding
Unmanned plane carrier platform space three-dimensional coordinate (x, y, z) and temporal information t for measuring the moment map correspondence, generation data row one by one
Table (value, x, y, z, t)；
The remote-control data is parsed, UAV Attitude data are obtained；Detected with plan according to the UAV Attitude data
Sensing data generate unmanned plane telecommand.
6. sensing data access transmission method as claimed in claim 5, it is characterised in that the payload of the agreement of agreement is net
The frame format of lotus is specially：
Beginning flag bit, remote-control romote-sensing data payload length bits, message frame indexed bits, hair message frame device systems number ratio
Special, hair message frame unit bit, payload message Bale No. bit, remote-control romote-sensing data bit, check bit.
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Cited By (7)
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| CN108134651A (en) * | 2017-12-14 | 2018-06-08 | 华南智能机器人创新研究院 | A kind of communication system and data packet unpacking method |
| WO2019178832A1 (en) * | 2018-03-23 | 2019-09-26 | 深圳市大疆创新科技有限公司 | Load device control method, adapter apparatus, unmanned aerial vehicle, and control terminal |
| CN112106122A (en) * | 2019-08-29 | 2020-12-18 | 深圳市大疆创新科技有限公司 | Remote control signal processing method, remote control device and remote control system |
| CN112578815A (en) * | 2020-12-17 | 2021-03-30 | 中国航空工业集团公司成都飞机设计研究所 | System and method for multi-platform heterogeneous remote control data dictionary |
| CN113342040A (en) * | 2021-06-16 | 2021-09-03 | 一飞(海南)科技有限公司 | Method for dynamically acquiring flight performance waypoints of formation of unmanned aerial vehicles and flight controller |
| CN115347935A (en) * | 2022-06-29 | 2022-11-15 | 深圳市高德信通信股份有限公司 | Unmanned aerial vehicle IPv 6-based sensing data access transmission system and method |
| US11994878B2 (en) | 2020-09-22 | 2024-05-28 | SZ DJI Technology Co., Ltd. | Load device control method, adapter apparatus, unmanned aerial vehicle, and control terminal |
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