CN106054926A - Unmanned aerial vehicle following system and following flight control method - Google Patents
Unmanned aerial vehicle following system and following flight control method Download PDFInfo
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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
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Abstract
The invention discloses an unmanned aerial vehicle following system and a following flight control method. The unmanned aerial vehicle following system comprises an unmanned aerial vehicle body, a remote control device, a following module and a mobile terminal. The remote control device and the following module wirelessly communicate. The remote control device and the unmanned aerial vehicle body wirelessly communicate. The mobile terminal and the second communication module of the remote control device communicate in a wired or wireless way. The following flight control method comprises the steps that firstly, the unmanned aerial vehicle body is started, the remote control device is started, and the unmanned aerial vehicle body takes off and then suspends in the air; secondly, the following module is started, and a second positioning module can accurately acquire the position signal of the following module of the moment; thirdly, the mobile terminal is started, and a following mode is selected through a human-computer interactive interface; and fourthly, the unmanned aerial vehicle body performs automatic flight according to the selected following mode. With arrangement of the unmanned aerial vehicle following system, the unmanned aerial vehicle body can perform automatic flight by following the moving following module without controlling flight of the unmanned aerial vehicle through the remote control device so that operation is easy.
Description
Technical field
The invention belongs to unmanned aerial vehicle (UAV) control technical field, be specifically related to a kind of unmanned plane system for tracking and follow the control of flight
Method processed.
Background technology
Along with the development of science and technology, unmanned plane increasingly obtains the favor of masses, and along with the raising of technology and unmanned plane valency
The reduction of lattice, unmanned plane oneself be increasingly becoming masses consumer products.But, the complexity of unmanned plane operation at present constrains nothing
Man-machine entrance general marketplace.
Existing unmanned plane mainly controls the running status of mobile device by remote controller, and the operation of remote controller is mainly led to
Advance or the retrogressing etc. of crossing two rocking bars control mobile devices on remote controller operate, owing to unmanned plane is shaken by the two of remote controller
Bar controls, the flight of new hand's more difficult control unmanned plane, it is therefore desirable to remote control manipulator is through long-term training for specialty, can be skilled
Remote controller controls the running status of unmanned plane.It addition, the remote controller one of unmanned plane is the heaviest, volume is the biggest,
Carry highly inconvenient, be substantially reduced the experience of user.
In sum, it is necessary to provide a kind of unmanned plane that controls to do the smart machine followed and system to solve above-mentioned asking
Topic.
Summary of the invention
It is an object of the invention to provide a kind of unmanned plane system for tracking and follow the control method of flight, solving existing skill
Unmanned plane during flying manipulation complexity in art, and the technical problem that control accuracy is low.
In order to solve above-mentioned technical problem, the present invention adopts the following technical scheme that
A kind of unmanned plane system for tracking, including:
Unmanned plane main body, is provided with the first battery in described unmanned plane main body, the first control module, first communication module and
First locating module, by electrical connection between first communication module, the first locating module and the first control module, the first battery is
First control module, first communication module are powered and the first locating module；It is provided with by The Cloud Terrace on described unmanned plane body and takes the photograph
Camera, electrically connects between video camera and the first control module.
Remote control unit, described remote inside is provided with the second battery, the second control module and second communication module, distant
Control device on be provided with unmanned plane operating mechanism；Second communication mould, electrical connection between operating mechanism and the second control module, the
Two batteries are the second control module and second communication module is powered；
Follow module, described in follow module and be arranged on ground moving carrier, follow be provided with in module the 3rd battery,
Three communication modules and the second locating module, electrically connect between third communication module and the second locating module, and the 3rd battery is the 3rd
Communication module and the second locating module are powered.
Mobile terminal, arranges human-computer interaction interface in described mobile terminal, and it is internally provided with the 4th control module, and the 4th
Battery, fourth communication module, described display screen, fourth communication module electrically connect between the 4th control module, and the 4th battery is
Human-computer interaction interface, fourth communication module and the 4th control module are powered, and are provided with CEEW APP in described 4th control module,
And show that it operates interface by human-computer interaction interface；
Radio communication, remote control is carried out between second communication module and the third communication module following module of institute's remote control unit
Carry out radio communication between second communication module and the first communication module of unmanned plane main body of device, state the 4th of mobile terminal the
Communication module carries out wired or wireless communication with the second communication module of control device.
Follow and module also includes gyroscope, accelerometer, gaussmeter and barometer, use these sensors to measure
And calculate the north following module to speed, east to speed, direction, sky speed and the angle of pitch, roll angle, sensing angle.Follow
These sensing datas and location information data will be sent to remote control unit by module the most at a time interval.
Unmanned plane main body also includes gyroscope, accelerometer, gaussmeter, barometer.These sensors are used to survey
Measure and calculate the north of unmanned plane body to speed, east to speed, direction, sky speed and the angle of pitch, roll angle, sensing angle.
After first control module receives the packet that remote control unit sends, it will extract the positional information about following module and height letter
Breath, and by it compared with the corresponding informance of self, the relative position obtaining unmanned plane body with following module, relative altitude.
Improving further, described remote control unit is the distant of the remote control unit of rocker-type held by both hands control or Worn type one-handed performance
Control device.
A kind of unmanned plane follows the control method of flight, it is characterised in that comprise the steps:
Step one, startup unmanned plane body, be that it powers on by the first battery；Start remote control unit, pass through remote control unit
Control unmanned plane body to take off, after reaching setting height, be suspended in the aerial flight directive waiting the first control module；
Step 2, start and follow module, described in follow module and be arranged on ground moving carrier, the second locating module can
Accurately obtain and follow module position signalling now, and by the radio communication between third communication module and second communication module
Position signalling is sent to the second control module of remote control unit；
Step 3, startup mobile terminal, activate CEEW APP, selects one to follow mode by human-computer interaction interface, logical
The wired or wireless communication crossed between the second communication module of fourth communication module and control device will follow way choice result
Send the second control module of remote control unit to；
Step 4, unmanned plane main body the first control module by receive follow way choice result with module this
Time position signalling be combined as a packet, and passed by the radio communication between second communication module and first communication module
Giving the first control module, the first control module controls unmanned plane body and automatically flies according to the mode of following selected, it is not necessary to
Operator controls unmanned plane during flying by the operating mechanism of operation remote control unit；
Step 5, flight terminate, and exit follow the mode by the operating mechanism of remote control unit.
Improve further, described in the mode of following include simply following, pinpoint follow, shadow is followed, track is followed, around with
Follow follow with line drawing with, push-and-pull.
Described simply follow refer to first control module control unmanned plane body in flight course with movement follow mould
Relative distance between block and highly keep constant.
Described fixed point follows the camera lens beginning referring to that the first control module controls unmanned plane body video camera in flight course
All morning follows module to movement；
Described shadow follow the human-computer interaction interface referred to by mobile terminal preset unmanned plane body with follow module it
Between distance, highly, and unmanned plane body follows the orientation angles between module relatively, and the first control module controls unmanned plane
Body is corresponding with setting value with the distance followed between module, height and the orientation angles of movement identical, i.e. in flight course
The flight path of unmanned plane body is identical with the motion track following module projection in same level.Unmanned plane body to
Shadow equally follows the movement following module.
Described track is followed the human-computer interaction interface referred to by mobile terminal and is preset unmanned plane body and follow mould
Distance between block, highly, and unmanned plane body follows the orientation angles between module relatively, the first control module controls nothing
Man-machine body is corresponding with setting value the most identical and unmanned with the distance followed between module of movement, height in flight course
Direction and speed that machine body is identical with following module holding all the time are flown.Take this kind mode of following to fly, no matter follow mould
Block advances with which kind of angle and speed, and unmanned plane body, while the distance keeping presetting, height, remains and follows mould
Direction that block is identical and speed flight, if it is static to keep following module, unmanned plane body is also by static；Only when following module
After movement, unmanned plane body just can fly to set relative altitude and distance.
Described cincture is followed the human-computer interaction interface referred to by mobile terminal and is preset unmanned plane body and follow mould
Relative altitude between block, and the flight speed of unmanned plane body and around radius, the first control module control unmanned plane this
Body to follow directly over module corresponding point as the center of circle, is diversion setting radius and speed ring in the horizontal plane of setting height
OK；When described setting speed is positive number, unmanned plane body is with clockwise around flight, and when setting speed is negative, unmanned plane is originally
Body is with cincture flight counterclockwise；
Described push-and-pull is followed the human-computer interaction interface referred to by mobile terminal and is preset starting point A, and by setting and starting point A
Between distance and height determine terminal B, starting point A is the position that unmanned plane body is current, and the first control module controls unmanned
Machine body is from starting point A, and linearly fly at a constant speed setting terminal B, and after reaching to set terminal B, unmanned plane body will automatically
Return to origin A；Unmanned plane body camera lens in flight course can adjust in the moment, aims at and follows module.By push-and-pull with
It is obtained in that with pattern and is clipped to big scape not from little scape, then from big scape not to the shooting picture of the other continuous transition of little scape.
Described line drawing is followed and is referred to select at least two destination by the human-computer interaction interface of mobile terminal, and all destinations are pressed
The time sequencing that takes of point is sequentially connected with generation course line, and the first control module controls unmanned plane body along airline operation, Ke Yishe
The fixed longitude of each destination, latitude coordinate values and height value；If following the module scope unmanned plane body beyond course line
Will hover, but camera lens will be directed at the direction following module always.CEEWA APP will the reliability in automatic decision course line.
If course line arranges unreasonable, it will prompting resets.
Improving further, the second control module of described remote control unit passes through second communication module every 80ms to unmanned plane
Main body sends a packet；Mobile terminal four control module is carried out with remote control unit every 100ms by fourth communication module
Once communicate.
Improve further, before described unmanned plane body takes off, unmanned plane body is placed on sustained height with following module
Carry out altitude calibration, it is ensured that the basis reference of parameter is identical, it is ensured that control accuracy.
Compared with prior art, there is advantages that
1, by arranging unmanned plane system for tracking, unmanned plane body can be followed the module of following of movement and automatically be flown, nothing
The flight of unmanned plane need to be manipulated by remote control unit, simple to operate.
2, the different modes of following is selected to realize unmanned plane body by the human-computer interaction interface of mobile terminal different certainly
The dynamic requirement following flight, the effect taken photo by plane with guarantee.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of a kind of unmanned plane system for tracking of the present invention.
Detailed description of the invention
In order to be more fully understood that the present invention, explain present disclosure further below in conjunction with embodiment, but
Present disclosure is not limited solely to the following examples.
Embodiment one:
As it is shown in figure 1, a kind of unmanned plane system for tracking, including:
Unmanned plane main body 1, is provided with the first battery, the first control module, first communication module in described unmanned plane main body
With the first locating module, by electrically connecting between first communication module, the first locating module and the first control module, the first battery
It is that the first control module, first communication module are powered and the first locating module；It is provided with by The Cloud Terrace on described unmanned plane body
Video camera, electrically connects between video camera and the first control module.
Remote control unit 2, described remote inside is provided with the second battery, the second control module and second communication module,
It is provided with unmanned plane operating mechanism on remote control unit；Second communication mould, electrical connection between operating mechanism and the second control module,
Second battery is the second control module and second communication module is powered.
Follow module 4, described in follow module and be arranged on ground moving carrier, follow be provided with in module the 3rd battery,
Third communication module and the second locating module, electrically connect between third communication module and the second locating module, and the 3rd battery is the
Three communication modules and the second locating module are powered.
Mobile terminal 3, arranges human-computer interaction interface in described mobile terminal, and it is internally provided with the 4th control module, the
Four batteries, fourth communication module, described display screen, fourth communication module electrically connect between the 4th control module, the 4th battery
Power for human-computer interaction interface, fourth communication module and the 4th control module, described 4th control module is provided with CEEW
APP, and show that it operates interface by human-computer interaction interface.
Radio communication is carried out between second communication module and the third communication module following module 4 of institute's remote control unit 2, distant
Carry out radio communication between second communication module and the first communication module of unmanned plane main body of control device, state the of mobile terminal
Four communication modules carry out wired or wireless communication with the second communication module of control device.
In the present embodiment, follow and module 4 also includes gyroscope, accelerometer, gaussmeter and barometer, use these
The north following module 4 can be measured and be calculated to sensor to speed, east to speed, direction, sky speed and the angle of pitch, rolling
Corner, sensing angle.Follow module will these sensing datas and location information data be sent the most at a time interval
To remote control unit.
In the present embodiment, unmanned plane main body also includes gyroscope, accelerometer, gaussmeter, barometer.Use these
Sensor can measure and calculate the north of unmanned plane body 1 to speed, east to speed, direction, sky speed and the angle of pitch,
Roll angle, sensing angle.After first control module receives the packet that remote control unit 2 sends, it will extract about following module
Positional information and elevation information, and by it compared with the corresponding informance of self, obtain unmanned plane body 1 and follow module 4
Position, relative altitude relatively.
In the present embodiment, described remote control unit 2 is remote control unit or the Worn type one-handed performance of rocker-type held by both hands control
Remote control unit.
Embodiment two:
A kind of unmanned plane follows the control method of flight, it is characterised in that comprise the steps:
Step one, startup unmanned plane body, be that it powers on by the first battery；Start remote control unit, pass through remote control unit
Control unmanned plane body to take off, after reaching setting height, be suspended in the aerial flight directive waiting the first control module；
Step 2, start and follow module, described in follow module and be arranged on ground moving carrier, the second locating module can
Accurately obtain and follow module position signalling now, and by the radio communication between third communication module and second communication module
Position signalling is sent to the second control module of remote control unit；
Step 3, startup mobile terminal, activate CEEW APP, selects one to follow mode by human-computer interaction interface, logical
The wired or wireless communication crossed between the second communication module of fourth communication module and control device will follow way choice result
Send the second control module of remote control unit to；
The mode of following received is selected result with module now by step 4, the first control module of unmanned plane main body
Position signalling be combined as a packet, and by the radio communication transmission between second communication module and first communication module
To the first control module, the first control module controls unmanned plane body and automatically flies according to the mode of following selected, it is not necessary to behaviour
Vertical person controls unmanned plane during flying by the operating mechanism of operation remote control unit；
Step 5, flight terminate, and exit follow the mode by the operating mechanism of remote control unit.
In the present embodiment, unmanned plane body flies automatically simply following mode, and described simply following refers to the first control
Molding block controls unmanned plane body in flight course and the relative distance followed between module of movement and highly keep constant.
Unmanned plane body is simply being followed in flight course, if operator finds that the height and distance preset is incorrect, then can lead to
Cross remote control unit to control the flight of unmanned plane body, it is ensured that the relative altitude by unmanned plane body and followed between module and distance
Adjusting to reasonable value, adjustment terminates rear unmanned plane body will simply follow mode with the relative altitude after adjusting, distance value
Automatically flight.
In other embodiments, also include that fixed point is followed, shadow is followed, track is followed, cincture is followed, push-and-pull is followed and paints
Line is followed, and selects one of which to follow mode when following flight every time.
Described fixed point follows the camera lens beginning referring to that the first control module controls unmanned plane body video camera in flight course
All morning follows module to movement；
Described shadow follow the human-computer interaction interface referred to by mobile terminal preset unmanned plane body with follow module it
Between distance, highly, and unmanned plane body follows the orientation angles between module relatively, and the first control module controls unmanned plane
Body is corresponding with setting value with the distance followed between module, height and the orientation angles of movement identical, i.e. in flight course
The flight path of unmanned plane body is identical with the motion track following module projection in same level.Unmanned plane body to
Shadow equally follows the movement following module.
Described track is followed the human-computer interaction interface referred to by mobile terminal and is preset unmanned plane body and follow mould
Distance between block, highly, and unmanned plane body follows the orientation angles between module relatively, the first control module controls nothing
Man-machine body is corresponding with setting value the most identical and unmanned with the distance followed between module of movement, height in flight course
Direction and speed that machine body is identical with following module holding all the time are flown.Take this kind mode of following to fly, no matter follow mould
Block advances with which kind of angle and speed, and unmanned plane body, while the distance keeping presetting, height, remains and follows mould
Direction that block is identical and speed flight, if it is static to keep following module, unmanned plane body is also by static；Only when following module
After movement, unmanned plane body just can fly to set relative altitude and distance.
Described cincture is followed the human-computer interaction interface referred to by mobile terminal and is preset unmanned plane body and follow mould
Relative altitude between block, and the flight speed of unmanned plane body and around radius, the first control module control unmanned plane this
Body to follow directly over module corresponding point as the center of circle, is diversion setting radius and speed ring in the horizontal plane of setting height
OK；When described setting speed is positive number, unmanned plane body is with clockwise around flight, and when setting speed is negative, unmanned plane is originally
Body is with cincture flight counterclockwise；
Described push-and-pull is followed the human-computer interaction interface referred to by mobile terminal and is preset starting point A, and by setting and starting point A
Between distance and height determine terminal B, starting point A is the position that unmanned plane body is current, and the first control module controls unmanned
Machine body is from starting point A, and linearly fly at a constant speed setting terminal B, and after reaching to set terminal B, unmanned plane body will automatically
Return to origin A；Unmanned plane body camera lens in flight course can adjust in the moment, aims at and follows module.By push-and-pull with
It is obtained in that with pattern and is clipped to big scape not from little scape, then from big scape not to the shooting picture of the other continuous transition of little scape.
Described line drawing is followed and is referred to select at least two destination by the human-computer interaction interface of mobile terminal, and all destinations are pressed
The time sequencing that takes of point is sequentially connected with generation course line, and the first control module controls unmanned plane body along airline operation, Ke Yishe
The fixed longitude of each destination, latitude coordinate values and height value；If following the module scope unmanned plane body beyond course line
Will hover, but camera lens will be directed at the direction following module always.CEEWA APP will the reliability in automatic decision course line.
If course line arranges unreasonable, it will prompting resets.
In the present embodiment, the second control module of described remote control unit passes through second communication module every 80ms to unmanned
Owner's body sends a packet；Mobile terminal four control module is entered with remote control unit every 100ms by fourth communication module
Row once communicates.
In the present embodiment, before described unmanned plane body takes off, unmanned plane body is placed on same height with following module
Degree carries out altitude calibration, it is ensured that the basis reference of parameter is identical, it is ensured that control accuracy.
The present invention does not does illustrate be prior art or can be realized by prior art, and the present invention
Described in be embodied as case and be only the exemplary embodiments of the present invention, be not used for limiting the practical range of the present invention.
The most all equivalence changes made according to the content of scope of the present invention patent and modification, all should be used as the technology category of the present invention.
Claims (6)
1. a unmanned plane system for tracking, it is characterised in that including:
Unmanned plane main body, is provided with the first battery, the first control module, first communication module and first in described unmanned plane main body
Locating module, by electrical connection between first communication module, the first locating module and the first control module, the first battery is first
Control module, first communication module are powered and the first locating module；On described unmanned plane body, The Cloud Terrace is provided with video camera,
Electrically connect between video camera and the first control module；
Remote control unit, described remote inside is provided with the second battery, the second control module and second communication module, and remote control fills
That puts is provided with unmanned plane operating mechanism；Second communication mould, electrical connection between operating mechanism and the second control module, the second electricity
Pond is the second control module and second communication module is powered；
Follow module, described in follow module and be arranged on ground moving carrier, follow and in module, be provided with the 3rd battery, threeway
Letter module and the second locating module, electrically connect between third communication module and the second locating module, and the 3rd battery is the third communication
Module and the second locating module are powered；
Mobile terminal, arranges human-computer interaction interface in described mobile terminal, and it is internally provided with the 4th control module, the 4th electricity
Pond, fourth communication module, described display screen, fourth communication module electrically connect between the 4th control module, and the 4th battery is behaved
Machine interactive interface, fourth communication module and the 4th control module are powered, and are provided with CEEW APP in described 4th control module, and
Show that it operates interface by human-computer interaction interface；
Radio communication, remote control unit is carried out between second communication module and the third communication module following module of institute's remote control unit
Second communication module and the first communication module of unmanned plane main body between carry out radio communication, state the fourth communication of mobile terminal
Module carries out wired or wireless communication with the second communication module of control device.
Unmanned plane system for tracking the most according to claim 1, it is characterised in that described remote control unit is rocker-type held by both hands
The remote control unit of control or the remote control unit of Worn type one-handed performance.
3. unmanned plane carries out following a control method for flight, its feature according to system for tracking any one of claim 1 or 2
It is, comprises the steps:
Step one, startup unmanned plane body, be that it powers on by the first battery；Start remote control unit, by remote control unit control
Unmanned plane body takes off, and after reaching setting height, is suspended in the aerial flight directive waiting the first control module；
Step 2, start and follow module, described in follow module and be arranged on ground moving carrier, the second locating module can be accurate
Obtain and follow module position signalling now, and by the radio communication between third communication module and second communication module by position
Confidence number sends the second control module of remote control unit to；
Step 3, start mobile terminal, activate CEEW APP, select one to follow mode by human-computer interaction interface, by the
Wired or wireless communication between the second communication module of four communication modules and control device will follow way choice result transmission
To the second control module of remote control unit；
Step 4, the first control module of unmanned plane main body follow way choice result with module now by receive
Position signalling is combined as a packet, and is sent to by the radio communication between second communication module and first communication module
First control module, the first control module controls unmanned plane body and automatically flies according to the mode of following selected, it is not necessary to handle
Person controls unmanned plane during flying by the operating mechanism of operation remote control unit；
Step 5, flight terminate, and exit follow the mode by the operating mechanism of remote control unit.
Unmanned plane the most according to claim 3 follows the control method of flight, it is characterised in that described in the mode of following include
Simply follow, pinpoint follow, shadow is followed, track is followed, cincture is followed, push-and-pull is followed and followed with line drawing；
Described simply follow refer to first control module control unmanned plane body in flight course with movement follow module it
Between relative distance and highly keep constant；
On described unmanned plane body, your The Cloud Terrace is provided with video camera, electrically connects between video camera and the first control module, fixed
Point follow refer to first control module control unmanned plane body in flight course the camera lens of video camera all the time towards movement with
With module；
Described shadow is followed the human-computer interaction interface referred to by mobile terminal and is preset unmanned plane body and follow between module
Distance, highly, and unmanned plane body follows the orientation angles between module relatively, the first control module controls unmanned plane body
In flight course corresponding with setting value with the distance followed between module, height and the orientation angles of movement identical, i.e. unmanned
The flight path of machine body is identical with the motion track following module projection in same level；
Described track follow the human-computer interaction interface referred to by mobile terminal preset unmanned plane body with follow module it
Between distance, highly, and unmanned plane body follows the orientation angles between module relatively, and the first control module controls unmanned plane
Body in flight course with the distance followed between module of movement, height corresponding with setting value the most identical, and unmanned plane this
Direction and speed that body is identical with following module holding all the time are flown；
Described cincture follow the human-computer interaction interface referred to by mobile terminal preset unmanned plane body with follow module it
Between relative altitude, and the flight speed of unmanned plane body and around radius, the first control module controls unmanned plane body and exists
In the horizontal plane of setting height, to follow directly over module, the point of correspondence is as the center of circle, to set radius and speed ring around flight；Institute
State setting speed when being positive number, unmanned plane body with clockwise around flight, when setting speed is negative, unmanned plane body with
Counterclockwise around flight；
Described push-and-pull is followed the human-computer interaction interface referred to by mobile terminal and is preset starting point A, and by setting between starting point A
Distance and height determine terminal B, starting point A is the position that unmanned plane body is current, first control module control unmanned plane this
Body is from starting point A, and linearly fly at a constant speed setting terminal B, and after reaching to set terminal B, unmanned plane body is by auto-returned
Starting point A；Unmanned plane body camera lens in flight course can adjust in the moment, aims at and follows module；
Described line drawing is followed and is referred to select at least two destination by the human-computer interaction interface of mobile terminal, and all destinations are taken by point
Time sequencing be sequentially connected with generation course line, the first control module controls unmanned plane body along airline operation, can set every
The longitude of individual destination, latitude coordinate values and height value.
5. according to the control method following flight described in claim 3 or 4, it is characterised in that the second of described remote control unit
Control module sends a packet every 80ms to unmanned plane main body by second communication module；Mobile terminal four control module
Once communicated with remote control unit every 100ms by fourth communication module.
The control method following flight the most according to claim 5, it is characterised in that before described unmanned plane body takes off,
By unmanned plane body with follow module and be placed on sustained height and carry out altitude calibration.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610567916.4A CN106054926A (en) | 2016-07-18 | 2016-07-18 | Unmanned aerial vehicle following system and following flight control method |
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| CN201610567916.4A CN106054926A (en) | 2016-07-18 | 2016-07-18 | Unmanned aerial vehicle following system and following flight control method |
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| CN106483980A (en) * | 2016-11-24 | 2017-03-08 | 腾讯科技（深圳）有限公司 | A kind of unmanned plane follows the control method of flight, apparatus and system |
| CN106742015A (en) * | 2017-01-03 | 2017-05-31 | 南京奇蛙智能科技有限公司 | The flight system and its control method of a kind of automobile control unmanned plane |
| CN106909172A (en) * | 2017-03-06 | 2017-06-30 | 重庆零度智控智能科技有限公司 | Around tracking, device and unmanned plane |
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| CN106483980B (en) * | 2016-11-24 | 2019-05-31 | 腾讯科技（深圳）有限公司 | A kind of unmanned plane follows the control method of flight, apparatus and system |
| CN106483980A (en) * | 2016-11-24 | 2017-03-08 | 腾讯科技（深圳）有限公司 | A kind of unmanned plane follows the control method of flight, apparatus and system |
| CN106742015A (en) * | 2017-01-03 | 2017-05-31 | 南京奇蛙智能科技有限公司 | The flight system and its control method of a kind of automobile control unmanned plane |
| CN108780323A (en) * | 2017-01-20 | 2018-11-09 | 深圳市大疆创新科技有限公司 | The control method and unmanned plane of unmanned plane |
| CN106909172A (en) * | 2017-03-06 | 2017-06-30 | 重庆零度智控智能科技有限公司 | Around tracking, device and unmanned plane |
| US11490246B2 (en) | 2017-05-03 | 2022-11-01 | Qualcomm Incorporated | Determining whether a drone-coupled user equipment is engaged in a flying state |
| US11438760B2 (en) | 2017-05-03 | 2022-09-06 | Qualcomm Incorporated | Exchanging a message including an in-flight status indicator between a drone-coupled user equipment and a component of a terrestrial wireless communication subscriber network |
| CN110574436A (en) * | 2017-05-03 | 2019-12-13 | 高通股份有限公司 | Judging whether a user equipment coupled with an unmanned aerial vehicle participates in a flight state |
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| CN110574436B (en) * | 2017-05-03 | 2022-07-05 | 高通股份有限公司 | Judging whether a user equipment coupled with an unmanned aerial vehicle participates in a flight state |
| US11496884B2 (en) | 2017-05-03 | 2022-11-08 | Qualcomm Incorporated | Exchanging a message including drone-coupled capability information between a drone-coupled user equipment and a component of a terrestrial wireless communication subscriber network |
| CN108475071A (en) * | 2017-06-29 | 2018-08-31 | 深圳市大疆创新科技有限公司 | Unmanned plane and its control method, control terminal and its control method |
| WO2019000323A1 (en) * | 2017-06-29 | 2019-01-03 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle and control method therefor, and control terminal and control method therefor |
| CN107373937A (en) * | 2017-08-25 | 2017-11-24 | 王春良 | A kind of non-contact type Portable mobile umbrella |
| CN107608391A (en) * | 2017-09-19 | 2018-01-19 | 广东容祺智能科技有限公司 | A kind of unmanned plane plans routing and its method automatically in real time |
| CN107992068A (en) * | 2017-11-29 | 2018-05-04 | 天津聚飞创新科技有限公司 | Method for tracking target, device and aircraft |
| CN109885079A (en) * | 2017-12-06 | 2019-06-14 | 智飞智能装备科技东台有限公司 | A kind of unmanned plane system for tracking and flight control method |
| CN108196572A (en) * | 2017-12-28 | 2018-06-22 | 广州亿航智能技术有限公司 | Unmanned plane tracking flight control method, unmanned plane and system |
| CN108263606A (en) * | 2018-01-29 | 2018-07-10 | 四川尚航智能科技有限公司 | One kind is based on VTOL fixed-wing unmanned plane and its natural gas line cruising inspection system, method |
| CN108628334B (en) * | 2018-06-28 | 2022-09-13 | 广州极飞科技股份有限公司 | Control method, device and system of unmanned aerial vehicle and unmanned aerial vehicle |
| CN108628334A (en) * | 2018-06-28 | 2018-10-09 | 广州极飞科技有限公司 | The control method and device of unmanned vehicle, system, unmanned vehicle |
| CN109144113A (en) * | 2018-09-11 | 2019-01-04 | 杭州后博科技有限公司 | It is a kind of with the luggage for following function in the air |
| CN111290412A (en) * | 2018-12-07 | 2020-06-16 | 中国科学院沈阳自动化研究所 | Autonomous underwater robot water surface remote control system and method |
| WO2021078165A1 (en) * | 2019-10-21 | 2021-04-29 | 深圳市道通智能航空技术有限公司 | Flight control method and apparatus for unmanned aerial vehicle, and unmanned aerial vehicle and storage medium |
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