CN105070005B - A kind of more rotor unmanned aircrafts and remote measuring and controlling method - Google Patents
A kind of more rotor unmanned aircrafts and remote measuring and controlling method Download PDFInfo
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- CN105070005B CN105070005B CN201510419437.3A CN201510419437A CN105070005B CN 105070005 B CN105070005 B CN 105070005B CN 201510419437 A CN201510419437 A CN 201510419437A CN 105070005 B CN105070005 B CN 105070005B
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Abstract
For current more rotor unmanned aircrafts position and avoidance in terms of deficiency, the present invention provides a kind of more rotor unmanned aircrafts and remote measuring and controlling method；More rotor unmanned aircrafts include mobile terminal and terminal, wherein mobile terminal includes mobile terminal central processing unit, mobile terminal locating module, mobile terminal digital transmission module, mobile terminal memory module, cradle head control module, flies control module and radar range finding module；The terminal includes terminal central processing unit, terminal digital transmission module, terminal data forwarding module and terminal memory；The remote measuring and controlling method, including 4 steps；Beneficial technical effect：Invention increases radar range finding module, at a distance from barrier contingency occurs for real-time detection unmanned vehicle when effectively unmanned vehicle being avoided to encounter barrier.The present invention guarantees that aircraft can return to homeposition according to historical track in location information exception using the method for reading history location information.
Description
Technical field
The invention belongs to unmanned vehicle technical field, relates in particular to a kind of more rotor unmanned aircrafts and telemetering is distant
Prosecutor method.
Background technique
Rotor unmanned aircraft is a kind of miniature automatic Pilot unmanned vehicle system of advanced VTOL, suitable for disappearing
Anti-, traffic, the police Ji Zhendeng department of public security, can full landform landing, carry mission payload, scouted for performance objective, tracking and
A variety of air taskings such as real time intelligence collection.
Unmanned vehicle has compact, maneuverability, easy to operate, easy to maintain, portable convenience, reliability and property
Valence than it is high many advantages, such as, in addition also have full landform landing ability and height intelligent, can fly with various postures, such as hanged
Stop, it is preceding fly, side flies and inverted flight etc., the Special use value to hardly match with fixed-wing unmanned plane.
Existing more rotor unmanned aircrafts, it is very strong to the dependence of location information, when location information exception, nobody
Aircraft can not just know oneself present position, cause flight abnormal, some, which even will appear, falls situation.On the other hand, nothing
The general flying height of people's aircraft is lower, and vacant building is more on city, if only being difficult effectively to solve by manual operation
Certainly avoidance problem, it is poor to the adaptability of environment.
Summary of the invention
For deficiency of the current more rotor unmanned aircrafts in terms of positioning with avoidance, the present invention is provided a kind of while being used
GPS and dipper system obtain location information, and using the method for storage history location information, utmostly guarantee unmanned vehicle
Location information is normal, while in location information exception, using the method for reading history location information, guarantees that aircraft is positioning
When Information abnormity homeposition can be returned to according to historical track.Invention increases radar range finding module, real-time detection without
People's aircraft is at a distance from barrier, when reaching certain alarm range, notifies that flying control module makes unmanned vehicle be in hovering
Contingency occurs when effectively unmanned vehicle being avoided to encounter barrier for state.
For achieving the above object, the technical scheme adopted by the invention is that：
A kind of more rotor unmanned aircrafts, including mobile terminal 10 and terminal 20, mobile terminal 10 is mounted on more rotors, and nobody flies
On row device, terminal 20 is mounted in grounded receiving station：
The mobile terminal 10 includes mobile terminal central processing unit 11, mobile terminal locating module 12, mobile terminal digital transmission module
13, mobile terminal memory module 14, cradle head control module 15, winged control module 16 and radar range finding module 17；Wherein, mobile terminal center
Processor 11 respectively with mobile terminal locating module 12, mobile terminal digital transmission module 13, mobile terminal memory module 14, cradle head control module
15, fly control module 16, radar range finding module 17 connects；Mobile terminal digital transmission module 13, mobile terminal memory module 14 and winged control module
16 respectively with 11 two-way communication of mobile terminal central processing unit；Mobile terminal locating module 12, radar range finding module 17 are respectively to movement
Hold 11 one-way transmission location data of central processing unit, radar range finding data；Cradle head control module 15 unidirectionally receives mobile terminal center
The control instruction of processor 11；
The terminal 20 includes terminal central processing unit, terminal digital transmission module 22, terminal data forwarding module 23 and end
Hold memory 24；Wherein, terminal digital transmission module 22, terminal data forwarding module 23 and terminal memory 24 are central with terminal respectively
Processor connection, and two-way communication；
It is passed between mobile terminal central processing unit 11 and terminal central processing unit by mobile terminal digital transmission module 13 and number of terminals
22 two-way communication of module.
Fly the flight attitude and flight position of control 16 real-time monitoring aircraft of module, and signal be transferred to electron speed regulator,
Keep the stability of aircraft flight.
Using the remote measuring and controlling method of more rotor unmanned aircrafts of the present invention, carry out as follows：
Step 1：The flight path information of crew station design is sent to shifting by wireless signal by terminal digital transmission module 22
The digital transmission module 13 of moved end, which is sent to using mobile terminal central processing unit 11 flies control module 16, flies control
The flight of the control unmanned vehicle of module 16；
Step 2：The location data of mobile terminal locating module 12 is received by mobile terminal central processing unit 11；
The location data is longitude information x, the latitude information y, height of more rotor unmanned aircrafts at every point of time
The set of information z, is denoted as { xt yt zt}；Wherein,
(x1 y1 z1) it is longitude, latitude, elevation information of more rotor unmanned aircrafts the 1st time point；
(x2 y2 z2) it is longitude, latitude, elevation information of more rotor unmanned aircrafts the 2nd time point；
And so on, (xt-1 yt-1 zt-1) be more rotor unmanned aircrafts the longitude at the t-1 time point, latitude,
Elevation information；(xt yt zt) it is longitude, latitude, elevation information of more rotor unmanned aircrafts t-th of time point；
The interval at two neighboring time point takes 0.5 to 5.0 second；Each historical location data is stored in mobile terminal storage mould
In block (14)；
The location data at t-th of time point is compared with the location data at the t-1 time point：
If xt-xt-1< 0.0002, and yt-yt-1< 0.00018, and zt-zt-120 meters of <,
I.e. the difference of longitude is no more than 0.0002 degree, and the difference of latitude is no more than 0.00018 degree, and the difference of height does not surpass
When crossing 20 meters, determine that the location data at t-th of time point belongs to normal range (NR), and the location data at t-th of time point is deposited
Enter mobile terminal memory module 14；
If xt-xt-1>=0.0002 or yt-yt-1>=0.00018 or zt-zt-1>=20 meters；That is the difference of longitude, latitude
Any of difference, difference of height exceed normal range (NR), determine that exception has occurred in the location data at t-th of time point,
Namely think that exception has occurred in the flight of more rotor unmanned aircrafts；
By mobile terminal central processing unit 11 by the location data at the t-1 time point, t-2 in mobile terminal memory module 14
The location data at a time point ... the location data at the 2nd time point, the location data at the 1st time point are gradually read simultaneously
It is sent to and flies control module 14, make to fly the departure place that the control control unmanned vehicle of module 14 is returned according to original track；
Step 3：Mobile terminal central processing unit 11 surveys the location data of collected mobile terminal locating module 12, radar
Obstacle distance data away from module 17 are sent to terminal digital transmission module 22, terminal central processing by mobile terminal digital transmission module 13
These data are sent to earth station by terminal data forwarding module 23 by device, and ground staff understands the fortune of unmanned vehicle in real time
Row track, operating status；
Step 4：Flying the flight path information that control module 16 is obtained according to step 1, control unmanned vehicle completes flight,
It drop to the coordinate location specified in flight path information.
The beneficial effects of the present invention are：
One, this number biography scheme has GPS/ Beidou dual redundant positioning function, while the method for storing history location information, most
Big guarantee unmanned vehicle location information is normal, while in location information exception, using reading history location information
Method guarantees that aircraft can return to homeposition according to historical track in location information exception.
Two, radar range finding module, real-time detection unmanned vehicle are reaching certain alarm range at a distance from barrier
When, notify that flying control module makes unmanned vehicle be in floating state, anticipates when effectively unmanned vehicle being avoided to encounter barrier
Outer accident.
Three, using overlength distance digital transmission module, the transmission range of data is effectively ensured.
Four, power supply wide scope used by this number biography scheme, applicability are good.
Five, this number biography scheme uses the pitching of cradle head control camera, effectively increases image pickup scope, and can effectively lock and take the photograph
As target.
Detailed description of the invention
Fig. 1 is structural block diagram of the invention.
Specific embodiment
The present invention provides a kind of while obtaining location information using GPS and dipper system, and using storage history positioning letter
The method of breath utmostly guarantees that unmanned vehicle location information is normal, while in location information exception, using reading history
The method of location information guarantees that aircraft can return to homeposition according to historical track in location information exception.This hair
Bright to increase radar range finding module, real-time detection unmanned vehicle, when reaching certain alarm range, leads at a distance from barrier
Know that flying control module makes unmanned vehicle be in floating state, occurs unexpected thing when effectively unmanned vehicle being avoided to encounter barrier
Therefore.
Now in conjunction with the Detailed description of the invention design feature that the present invention will be described in detail.
Referring to Fig. 1, a kind of more rotor unmanned aircrafts, including mobile terminal 10 and terminal 20, mobile terminal 10 are mounted on more rotations
On wing unmanned vehicle, terminal 20 is mounted in grounded receiving station：
The mobile terminal 10 includes mobile terminal central processing unit 11, mobile terminal locating module 12, mobile terminal digital transmission module
13, mobile terminal memory module 14, cradle head control module 15, winged control module 16 and radar range finding module 17；Wherein, mobile terminal center
Processor 11 respectively with mobile terminal locating module 12, mobile terminal digital transmission module 13, mobile terminal memory module 14, cradle head control module
15, fly control module 16, radar range finding module 17 connects；Mobile terminal digital transmission module 13, mobile terminal memory module 14 and winged control module
16 respectively with 11 two-way communication of mobile terminal central processing unit；Mobile terminal locating module 12, radar range finding module 17 are respectively to movement
Hold 11 one-way transmission location data of central processing unit, radar range finding data；Cradle head control module 15 unidirectionally receives mobile terminal center
The control instruction of processor 11；
The terminal 20 includes terminal central processing unit, terminal digital transmission module 22, terminal data forwarding module 23 and end
Hold memory 24；Wherein, terminal digital transmission module 22, terminal data forwarding module 23 and terminal memory 24 are central with terminal respectively
Processor connection, and two-way communication；
It is passed between mobile terminal central processing unit 11 and terminal central processing unit by mobile terminal digital transmission module 13 and number of terminals
22 two-way communication of module.
Fly the flight attitude and flight position of control 16 real-time monitoring aircraft of module, and signal be transferred to electron speed regulator,
Keep the stability of aircraft flight.
Furtherly, locating module 12 receives the location data that GPS satellite or big-dipper satellite send over, and will position number
According to sending mobile terminal central processing unit 11 to.
Furtherly, radar range finding module 17 monitor around more rotor unmanned aircrafts that whether there are obstacles and
The distance of the barrier；When radar range finding module 17 monitors barrier, the obstacle distance information that will test is sent to
Mobile terminal central processing unit 11；
Evacuation for the first time is carried out to obstacle distance information by mobile terminal central processing unit 11 to judge：Shifting is preset in if reaching
When alarm range in moved end 10, then sending order to winged control module 16 makes more rotor unmanned aircrafts be in floating state, keeps away
Exempt to encounter barrier, and waits the control instruction of terminal 20；
If when the alarm range being not up to preset in mobile terminal 10, more rotor unmanned aircrafts keep original flight
State, and the obstacle distance information that will test by mobile terminal central processing unit 11 successively by mobile terminal digital transmission module 13,
Terminal digital transmission module 22 is transmitted to terminal central processing unit, is carried out second by terminal central processing unit to obstacle distance information
Evacuation judgement：
If reach the alarm range being preset in terminal 20, terminal central processing unit is through terminal digital transmission module 22, shifting
Moved end digital transmission module 13, mobile terminal central processing unit 11, which send to order to winged control module 16, makes more rotor unmanned aircrafts be in outstanding
Stop state, avoids encountering barrier, and wait the control instruction of terminal 20.
Furtherly, radar range finding module 17 includes 4 ranging submodules, monitors more rotor unmanned aircrafts respectively
Whether there are obstacles and the distance of the barrier for front, rear, left and right four direction, and the obstacle distance letter that will test
Breath is sent to mobile terminal central processing unit 11.
Furtherly, the location data that mobile terminal central processing unit 11 carrys out the transmitting of mobile terminal locating module 12 is sentenced
It is disconnected：If location data is in the normal range：Then mobile terminal central processing unit 11 deposits the location data received deposit mobile terminal
It stores up in module 16；
The location data in normal range (NR) refers to：By the longitude of sampled point two neighboring in location data, latitude
Value, height value are compared two-by-two, if the difference of the longitude of two neighboring sampled point is no more than 0.0002 degree, and two neighboring are adopted
The difference of the latitude of sampling point is no more than 0.00018 degree, and the difference of the height of two neighboring sampled point is no more than 20 meters, and it is fixed to determine
Position data are normal range (NR)；
If location data is abnormal：Then mobile terminal central processing unit 11 will be stored in mobile terminal memory module 16 and determine
Position data recall, and are sent to and fly control module 16；The historical track information is read by flying control module 16, is returned according to historical track
To homeposition；
The location data, which is abnormal, to be referred to：By the longitude of sampled point two neighboring in location data, latitude value, height
Angle value is compared two-by-two, if the difference that the difference of longitude is more than 0.0002 degree or latitude is more than 0.00018 degree or height
Difference is more than 20 meters, then determines that location data is abnormal.
Referring to Fig. 1, furtherly, mobile terminal central processing unit 11 passes through mobile terminal digital transmission module 13, terminal digital transmission module
22, the command information that terminal central processing unit satellite receiver is sent；Mobile terminal central processing unit 11 believes the order received
It is issued after breath parsing and flies control module 16 or cradle head control module 15, more rotor unmanned aircrafts is made to complete corresponding flare maneuver, make
Holder completes corresponding actions.
Referring to Fig. 1, furtherly, the data letter that terminal digital transmission module is fired back received from mobile terminal digital transmission module 13
Breath, and transmit it to terminal central processing unit；
The data information memory received in terminal memory 24, and is being passed through terminal data by terminal central processing unit
Forwarding module 23 goes to earth station and is shown；The data of storage in memory 24 can be adjusted by central processing unit again at any time
With.
Furtherly, fly the model Pixhawk2.4.6 of control module 16；The model of mobile terminal central processing unit 11
STM32F103RCT6；The model UBLOX G7020-KT of mobile terminal locating module 12；The model of mobile terminal digital transmission module 13
Xtend 900MHz；The model 24C512 of mobile terminal memory module 14；The model A5W-K of cradle head control module 15；Radar
The model HC-SR04 of range finder module 17；Terminal central processing unit model STM32F103RCT6；22 type of terminal digital transmission module
Number be Xtend 900MHz；The model ATK-RM04 of terminal data forwarding module 23；The model of terminal memory 24
24C512。
Using the remote measuring and controlling method of any more rotor unmanned aircrafts of the present invention：It carries out as follows：
Step 1：The flight path information of crew station design is sent to shifting by wireless signal by terminal digital transmission module 22
The digital transmission module 13 of moved end, which is sent to using mobile terminal central processing unit 11 flies control module 16, flies control
The flight of the control unmanned vehicle of module 16；
Step 2：The location data of mobile terminal locating module 12 is received by mobile terminal central processing unit 11；
The location data is longitude information x, the latitude information y, height of more rotor unmanned aircrafts at every point of time
The set of information z, is denoted as { xt yt zt}；Wherein,
(x1 y1 z1) it is longitude, latitude, elevation information of more rotor unmanned aircrafts the 1st time point；
(x2 y2 z2) it is longitude, latitude, elevation information of more rotor unmanned aircrafts the 2nd time point；
And so on, (xt-1 yt-1 zt-1) be more rotor unmanned aircrafts the longitude at the t-1 time point, latitude,
Elevation information；(xt yt zt) it is longitude, latitude, elevation information of more rotor unmanned aircrafts t-th of time point；
The interval at two neighboring time point takes 0.5 to 5.0 second；Each historical location data is stored in mobile terminal storage mould
In block 14；The location data at t-th of time point is compared with the location data at the t-1 time point：
If xt-xt-1< 0.0002, and yt-yt-1< 0.00018, and zt-zt-120 meters of <,
I.e. the difference of longitude is no more than 0.0002 degree, and the difference of latitude is no more than 0.00018 degree, and the difference of height does not surpass
When crossing 20 meters, determine that the location data at t-th of time point belongs to normal range (NR), and the location data at t-th of time point is deposited
Enter mobile terminal memory module 14；
If xt-xt-1>=0.0002 or yt-yt-1>=0.00018 or zt-zt-1>=20 meters；That is the difference of longitude, latitude
Any of difference, difference of height exceed normal range (NR), determine that exception has occurred in the location data at t-th of time point,
Namely think that exception has occurred in the flight of more rotor unmanned aircrafts；
By mobile terminal central processing unit 11 by the location data at the t-1 time point, t-2 in mobile terminal memory module 14
The location data at a time point ... the location data at the 2nd time point, the location data at the 1st time point are gradually read simultaneously
It is sent to and flies control module 14, make to fly the departure place that the control control unmanned vehicle of module 14 is returned according to original track；
Step 3：Mobile terminal central processing unit 11 surveys the location data of collected mobile terminal locating module 12, radar
Obstacle distance data away from module 17 are sent to terminal digital transmission module 22, terminal central processing by mobile terminal digital transmission module 13
These data are sent to earth station by terminal data forwarding module 23 by device, and ground staff understands the fortune of unmanned vehicle in real time
Row track, operating status；
Step 4：Flying the flight path information that control module 16 is obtained according to step 1, control unmanned vehicle completes flight,
It drop to the coordinate location specified in flight path information.
Furtherly, 17 information of radar range finding module is acquired by mobile terminal central processing unit 11 in real time：
When radar range finding module 17 finds barrier, and the more rotor unmanned aircrafts of obstacle distance are not less than 5 meters, by
Obstacle distance information, location data are fed back to terminal 20 by mobile terminal central processing unit 11, prompt the operation for being located at earth station
Personnel, at this point, more rotor unmanned aircrafts continue to fly by original flight path information；
When radar range finding module 17 finds barrier, and the more rotor unmanned aircrafts of obstacle distance are less than 5 meters, by moving
Moved end central processing unit 11 sends hovering order to winged control module 14, and unmanned vehicle is made to be in floating state；At the same time, by
Obstacle distance information, location data are fed back to terminal 20 by mobile terminal central processing unit 11, wait the operation for being located at earth station
Personnel issue control instruction, it is ensured that more rotor unmanned aircrafts drive into home.
It is based on the preferred control program of hardware of the invention：Locating module 12 receives GPS satellite or big-dipper satellite is sent
The location data to come over, and send location data to central processing unit 11；After central processing unit 11 obtains location data, judgement
Whether data are normal, and normal location data is stored in memory module 16, while location data being sent to and flies control module 16；
It was found that central processing unit 11 reads historical track information from memory module 16 after GPS data exception, sent according to return sequence
To winged control module 16, guarantee that aircraft can return to homeposition according to historical track in location information exception；Centre
Manage device 11 pass through 13 satellite receiver of digital transmission module send command information, issued after command information is parsed fly control module 16 or
Cradle head control module 15 makes aircraft complete corresponding actions or holder is made to complete corresponding actions；Radar range finding module 17 completes nothing
The distance test of people's aircraft four direction barrier, and range information is sent to central processing unit 11, central processing unit 11
Range information is transmitted to earth station by digital transmission module 13, while judging that range information either with or without alarm range is reached, reaches
When alerting range, sending order to winged control makes aircraft be in floating state, avoids encountering barrier, waits manual operation, keep away
Open barrier.
The data information that terminal digital transmission module 22 is fired back received from the digital transmission module 13 of mobile terminal 10, and transmitted
To central processing unit；Central processing unit by the data information memory received in memory 24, and pass through data forwarding mould
Block 23 goes to earth station 51 and is shown；The data of storage in memory 24 can be called by central processing unit again at any time；Ground
The control command that face station is sent is sent to the digital transmission module 13 of mobile terminal via digital transmission module 22, is then forwarded to by digital transmission module 13
The central processing unit 11 of mobile terminal realizes corresponding control operation.
For deficiency of the current more rotor unmanned aircrafts in terms of positioning with avoidance, the present invention is provided a kind of while being used
GPS and dipper system obtain location information, and using the method for storage history location information, utmostly guarantee unmanned vehicle
Location information is normal, while in location information exception, using the method for reading history location information, guarantees that aircraft is positioning
When Information abnormity homeposition can be returned to according to historical track.Invention increases radar range finding module, real-time detection without
People's aircraft is at a distance from barrier, when reaching certain alarm range, notifies that flying control module makes unmanned vehicle be in hovering
Contingency occurs when effectively unmanned vehicle being avoided to encounter barrier for state.
Claims (9)
1. a kind of more rotor unmanned aircrafts, including mobile terminal（10）And terminal（20）, mobile terminal（10）Be mounted on more rotors without
On people's aircraft, terminal（20）It is mounted in grounded receiving station, it is characterised in that：
The mobile terminal（10）Mould is passed including mobile terminal central processing unit (11), mobile terminal locating module (12), mobile terminal number
Block (13), mobile terminal memory module (14), cradle head control module（15）, fly control module（16）With radar range finding module（17）；Its
In, mobile terminal central processing unit (11) is stored with mobile terminal locating module (12), mobile terminal digital transmission module (13), mobile terminal respectively
Module (14), cradle head control module（15）, fly control module（16）, radar range finding module（17）Connection；Mobile terminal digital transmission module
(13), mobile terminal memory module (14) and winged control module（16）Respectively with mobile terminal central processing unit (11) two-way communication；It is mobile
Hold locating module (12), radar range finding module（17）Respectively to mobile terminal central processing unit (11) one-way transmission location data, thunder
Up to ranging data；Cradle head control module（15）The unidirectional control instruction for receiving mobile terminal central processing unit (11)；
The terminal（20）Including terminal central processing unit, terminal digital transmission module（22）, terminal data forwarding module（23）With
Terminal memory（24）；Wherein, terminal digital transmission module（22）, terminal data forwarding module（23）And terminal memory（24）Respectively
It is connect with terminal central processing unit, and two-way communication；
It is passed between mobile terminal central processing unit (11) and terminal central processing unit by mobile terminal digital transmission module (13) and number of terminals
Module（22）Two-way communication；
Fly control module（16）The flight attitude and flight position of real-time monitoring aircraft, and signal is transferred to electron speed regulator, it protects
Hold the stability of aircraft flight；
The location data that mobile terminal central processing unit (11) carrys out mobile terminal locating module (12) transmitting judges：
If location data is in the normal range：Then the location data received is stored in mobile terminal by mobile terminal central processing unit (11)
In memory module (16)；
The location data in normal range (NR) refers to：By the longitude of sampled point two neighboring in location data, latitude value, height
Angle value is compared two-by-two, if the difference of the longitude of two neighboring sampled point is no more than 0.0002 degree, and two neighboring sampled point
Latitude difference be no more than 0.00018 degree, and the difference of the height of two neighboring sampled point be no more than 20 meters, determine position number
According to for normal range (NR)；
If location data is abnormal：Then mobile terminal central processing unit (11) will be stored in mobile terminal memory module (16) and determine
Position data recall, and are sent to and fly control module（16）；By flying control module（16）Historical track information is read, is returned according to historical track
Return to homeposition；
The location data, which is abnormal, to be referred to：By the longitude of sampled point two neighboring in location data, latitude value, height value
It is compared two-by-two, if the difference that the difference of longitude is more than 0.0002 degree or latitude is more than the difference of 0.00018 degree or height
More than 20 meters, then determine that location data is abnormal.
2. a kind of more rotor unmanned aircrafts according to claim 1, it is characterised in that：Locating module (12) receives GPS
The location data that satellite or big-dipper satellite send over, and send location data to mobile terminal central processing unit (11).
3. a kind of more rotor unmanned aircrafts according to claim 1, it is characterised in that：Radar range finding module（17）Monitoring
Whether there are obstacles around more rotor unmanned aircrafts and the distance of the barrier；When radar range finding module（17）Prison
When measuring barrier, the obstacle distance information that will test is sent to mobile terminal central processing unit（11）；
By mobile terminal central processing unit（11）Evacuation judgement for the first time is carried out to obstacle distance information：Movement is preset in if reaching
End（10）In alarm range when, then to winged control module（16）Sending order makes more rotor unmanned aircrafts be in floating state,
It avoids encountering barrier, and waits terminal（20）Control instruction；
If being not up to preset in mobile terminal（10）In alarm range when, then more rotor unmanned aircrafts keep original flight shape
State, and by mobile terminal central processing unit（11）The obstacle distance information that will test is successively by mobile terminal digital transmission module
（13）, terminal digital transmission module（22）Be transmitted to terminal central processing unit, by terminal central processing unit to obstacle distance information into
Second of evacuation judgement of row：
Terminal is preset in if reaching（20）In alarm range when, then terminal central processing unit is through terminal digital transmission module（22）, move
Moved end digital transmission module（13）, mobile terminal central processing unit（11）To winged control module（16）Sending order makes more rotor unmanned aircrafts
In floating state, avoid encountering barrier, and wait terminal（20）Control instruction.
4. a kind of more rotor unmanned aircrafts according to claim 3, it is characterised in that：Radar range finding module（17）It includes
4 ranging submodules, monitor respectively more rotor unmanned aircrafts front, rear, left and right four direction whether there are obstacles, with
And the distance of the barrier, and the obstacle distance information that will test is sent to mobile terminal central processing unit（11）.
5. a kind of more rotor unmanned aircrafts according to claim 1, it is characterised in that：Mobile terminal central processing unit (11)
Pass through mobile terminal digital transmission module（13）, terminal digital transmission module（22）, terminal central processing unit satellite receiver send order letter
Breath；Mobile terminal central processing unit (11) is issued after parsing the command information received flies control module（16）Or cradle head control module
（15）, more rotor unmanned aircrafts is made to complete corresponding flare maneuver, holder is made to complete corresponding actions.
6. a kind of more rotor unmanned aircrafts according to claim 1, it is characterised in that：Terminal digital transmission module is received from shifting
The data information that moved end digital transmission module (13) fires back, and transmit it to terminal central processing unit；
Terminal central processing unit is by the data information memory received in terminal memory（24）It is interior, and turn by terminal data
Send out module（23）Earth station is gone to be shown；It is stored in memory（24）In data can be adjusted again by central processing unit at any time
With.
7. a kind of more rotor unmanned aircrafts according to claim 1, it is characterised in that：Fly control module（16）Model
Pixhawk2.4.6；The model STM32F103RCT6 of mobile terminal central processing unit (11)；The type of mobile terminal locating module (12)
Number be UBLOX G7020-KT；The model Xtend 900MHz of mobile terminal digital transmission module (13)；Mobile terminal memory module (14)
Model 24C512；Cradle head control module（15）Model A5W-K；Radar range finding module（17）Model HC-SR04；
Terminal central processing unit model STM32F103RCT6；Terminal digital transmission module（22）Model Xtend 900MHz；Terminal data
Forwarding module（23）Model ATK-RM04；Terminal memory（24）Model 24C512.
8. a kind of remote measuring and controlling method, using any more rotor unmanned aircrafts of claim 1 to 7, it is characterised in that：By as follows
Step carries out：
Step 1：By terminal digital transmission module（22）The flight path information of crew station design is sent to movement by wireless signal
The digital transmission module at end（13）, which is sent to using mobile terminal central processing unit (11) flies control module（16）,
Fly control module（16）Control the flight of unmanned vehicle；
Step 2：By mobile terminal central processing unit（11）Receive mobile terminal locating module（12）Location data；
The location data is longitude information x, latitude information y, the elevation information z of more rotor unmanned aircrafts at every point of time
Set, be denoted as { xt yt zt}；Wherein,
(x1 y1 z1) it is longitude, latitude, elevation information of more rotor unmanned aircrafts the 1st time point；
(x2 y2 z2) it is longitude, latitude, elevation information of more rotor unmanned aircrafts the 2nd time point；
And so on, (xt-1 yt-1 zt-1) it is longitude, latitude, height of more rotor unmanned aircrafts the t-1 time point
Information；(xt yt zt) it is longitude, latitude, elevation information of more rotor unmanned aircrafts t-th of time point；
The interval at two neighboring time point takes 0.5 to 5.0 second；Each historical location data is stored in mobile terminal memory module
（14）In；
The location data at t-th of time point is compared with the location data at the t-1 time point：
If xt-xt-1< 0.0002, and yt-yt-1< 0.00018, and zt-zt-120 meters of <,
I.e. the difference of longitude is no more than 0.0002 degree, and the difference of latitude is no more than 0.00018 degree, and the difference of height is no more than 20
Meter Shi determines that the location data at t-th of time point belongs to normal range (NR), and the location data at t-th of time point is stored in and is moved
Moved end memory module（14）；
If xt-xt-1>=0.0002 or yt-yt-1>=0.00018 or zt-zt-1>=20 meters；I.e. the difference of longitude, the difference of latitude,
Any of difference of height exceeds normal range (NR), determines that exception has occurred in the location data at t-th of time point, namely recognize
Exception has occurred in flight for more rotor unmanned aircrafts；
By mobile terminal central processing unit（11）By mobile terminal memory module（14）In the location data at the t-1 time point, t-2
The location data at a time point ... the location data at the 2nd time point, the location data at the 1st time point are gradually read simultaneously
It is sent to and flies control module（14）, make to fly control module（14）Control the departure place that unmanned vehicle is returned according to original track；
Step 3：Mobile terminal central processing unit（11）By collected mobile terminal locating module（12）Location data, radar survey
Away from module（17）Obstacle distance data pass through mobile terminal digital transmission module（13）It is sent to terminal digital transmission module（22）, in terminal
These data are passed through terminal data forwarding module by central processor（23）It is sent to earth station, ground staff understands nobody in real time and flies
The running track of row device, operating status；
Step 4：Fly control module（16）According to the flight path information that step 1 obtains, control unmanned vehicle completes flight, drop
Drop down onto the coordinate location specified in flight path information.
9. a kind of remote measuring and controlling method according to claim 8, it is characterised in that：By mobile terminal central processing unit（11）It is real
When acquire radar range finding module（17）Information：
When radar range finding module（17）It was found that barrier, and when the more rotor unmanned aircrafts of obstacle distance are not less than 5 meters, by moving
Moved end central processing unit（11）Obstacle distance information, location data are fed back into terminal（20）, prompt the behaviour for being located at earth station
Make personnel, at this point, more rotor unmanned aircrafts continue to fly by original flight path information；
When radar range finding module（17）It was found that barrier, and when the more rotor unmanned aircrafts of obstacle distance are less than 5 meters, by moving
Hold central processing unit（11）To winged control module（14）Hovering order is sent, unmanned vehicle is made to be in floating state；At the same time,
By mobile terminal central processing unit（11）Obstacle distance information, location data are fed back into terminal（20）, wait and be located at earth station
Operator issue control instruction, it is ensured that more rotor unmanned aircrafts drive into home.
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