CN106483966A - Unmanned aerial vehicle data acquisition system - Google Patents
Unmanned aerial vehicle data acquisition system Download PDFInfo
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- CN106483966A CN106483966A CN201610876657.3A CN201610876657A CN106483966A CN 106483966 A CN106483966 A CN 106483966A CN 201610876657 A CN201610876657 A CN 201610876657A CN 106483966 A CN106483966 A CN 106483966A
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- 238000004422 calculation algorithm Methods 0.000 claims description 8
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- 238000013500 data storage Methods 0.000 claims description 6
- 230000000153 supplemental effect Effects 0.000 claims description 6
- 238000012360 testing method Methods 0.000 claims description 5
- 230000001133 acceleration Effects 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000012937 correction Methods 0.000 claims description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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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 Unmanned Aerial Vehicle Data acquisition system, including at least one computer, at least one control and monitor console, at least one signal source, at least one industrial computer, at least one distributor, at least one harvester and at least one recorder it is characterised in that：Described harvester is provided with least one analog quantity and gathers and edits unit, at least one digital quantity decoding unit, at least one real-time monitoring unit and at least one storage control unit.Without for often a corresponding interface all being arranged with kind of signal, then control in data acquisition get up just very convenient；By the setting for buffer unit, so that data transfer is stablized it is not easy to lose, the data of collection can be made more complete, so that the data of Real-time Collection is accurate much sooner.
Description
Technical field
The present invention relates to data collecting field, it is related specifically to a kind of Unmanned Aerial Vehicle Data collection field.
Background technology
Unmanned plane is a kind of very wide aircraft of application, is all widely used in agricultural, industry, service trade.Its
In flight course, because flight runs into situation complexity, residing environment is also various, so the signal of data acquisition is many, multiple
Miscellaneous, especially to flight position, the situation of flight and attitude are required to grasp in real time, including geographical coordinate, wind speed, flight speed
Degree, roll angle, the angle of pitch, yaw angle, rolling angle rate, pitch rate, yawrate and each axial acceleration letter
Breath, the electricity of power supply, temperature of chip etc., the real-time of acquisition and collection and accuracy requirement are very high.Simultaneously in data acquisition
When, need to transmit the data collecting in real time and stored.Connect accordingly if often all arranging one with kind of signal
Mouthful, then in data acquisition control get up just very inconvenient.
Need to invent a kind of data collecting system, Unmanned Aerial Vehicle Data can be gathered in real time, carried out by an interface
Data transfer, to facilitate the collection of data, can keep unmanned plane by the adjustment that the data of collection is carried out at any time simultaneously
Smooth flight.
Content of the invention
The present invention provides a kind of real-time Unmanned Aerial Vehicle Data acquisition system, can be carried out data transmission by an interface,
The smooth flight of unmanned plane to facilitate the collection of data, can be kept by the adjustment that the data of collection is carried out at any time simultaneously.
The technical solution adopted in the present invention is as follows：
A kind of Unmanned Aerial Vehicle Data acquisition system, passes including at least one matching storage control system, at least one information
Defeated system, described data collecting system, also include at least one computer, at least one control and monitor console, at least one signal source, at least
One industrial computer, at least one distributor, at least one harvester and at least one recorder it is characterised in that：Described harvester
It is provided with least one analog quantity to gather and edit unit, at least one digital quantity decoding unit, at least one real-time monitoring unit and at least one storage
Control unit.
Preferably, at least one described harvester also includes at least two master controllers, in master controller
(1) at least provided with two buffer units and master controller (2) between；
Wherein：
Master controller (1) is used for analog data, numerical data, the collection of distribution supplemental characteristic and another center and controls
The order that device sends receives, and is additionally operable to analog data, distribution supplemental characteristic carries out mixing the decoding compiling frame and numerical data simultaneously,
And the data input of frame and decoding will be compiled to corresponding buffer unit；
Master controller (2) is used for transmitting the various instructions that described control and monitor console sends to master controller (1) and described
Recorder；
One buffer unit be used for data send into described recorder before enter row cache, another buffer unit be used for reality
When monitoring before data enter row cache.
Preferably, in test mode, data is transferred to by described buffer unit by described master controller (2)
Store in described recorder.
Preferably, in reading state, in described recorder, data storage passes through described master controller (2) transmission
To in described control and monitor console, described data storage is split and analyzed by described control and monitor console.
Preferably, build the initial point Oa of coordinate system (1) with one on horizontal plane static point, with orthogonal three to
Xa, Ya, Za are as the axle of coordinate system for amount, set up coordinate system.The Xa axle position of wherein coordinate system, in horizontal plane, points to due east direction
And parallel with parallel, Ya axle position is perpendicularly oriented to direct north and parallel in meridian, Za axle and Xa axle in horizontal plane with Xa axle
And direction vertical with the plane that Ya axle is constituted is upwards；
Reference frame (1) builds coordinate system (2), chooses the initial point Ob as coordinate system for the geometric center of unmanned plane, with
Sample is with orthogonal three vectorial Xb, Yb, Zb axles as coordinate system.The Xb axle of coordinate system and a pair of linea angulata of unmanned plane frame
Parallel, Yb axle is vertical with the described diagonal of frame, the plane being located perpendicular to Xb axle, Yb axle perpendicular to Ob, Zb axle with Xb axle,
Direction is upwards；
By coordinate system (2) rotation transformation, after rotation, coordinate system (2) is mapped in coordinate system (1), obtaining mapping pair should close
System, can be by rotating around a certain axle so that two coordinate systems overlap in sequence；
Coordinate system (2) is rotated a certain angle around X-axis, now the Y of the Y of coordinate system (2), Z axis and coordinate system (1), Z axis
The angle being formed is referred to as roll angle φ；
Coordinate system (2) is rotated a certain angle around Y-axis, now the X of the X of coordinate system (2), Z axis and coordinate system (1), Z axis
The angle being formed is referred to as pitching angle theta；
Coordinate system (2) is rotated a certain angle about the z axis, now the X of the X of coordinate system (2), Y-axis and coordinate system (1), Y-axis
The angle being formed is referred to as yaw angle ψ；
Described Unmanned Aerial Vehicle Data acquisition system is additionally provided with accelerometer and gyroscope；
It is characterized in that：The accelerometer (ax, ay, az) collecting and the data of gyroscope (gx, gY, gz) and roll angle
φ, pitching angle theta, yaw angle ψ, meet following algorithm model：
(1) q=[q0q1q2q3]T=[1 00 0]T
Wherein, ax, ay, az represent the angular acceleration rotating around X, Y, Z axis respectively, and gx, gY, gz represent respectively around X, Y, Z
The angular velocity that axle rotates, q0, q1, q2, q3 are the quaternionic vector of setting, Vx、Vy、VzIt is the speed along X, Y, Z axis；
With data ax of accelerometer, it is worth error after ay, az are re-quantization with quaternary number q0, q1, q2, q3, using meter
As gyroscope gx, the correction of gY, the gz data value to revise gyroscope, using revised gyroscope number for the error amount calculated
According to update quaternary number, the quaternary number after updating is converted into corresponding roll angle φ, pitching angle theta, yaw angle ψ, using complementation
The mode of filtering, revises gyroscope using the gravimetric value of quaternary number and the error of accelerometer, specifically meets following algorithm mould
Type：
Value (gx, gY, gz) according to revised gyroscope just can be updated to quaternary number, simultaneously by new quaternary
Accelerometer and the initial data double counting above equation of gyroscope that number and next cycle collect, can cyclically obtain
Obtain the value of revised gyroscope, update quaternary number simultaneously, can mutually be turned and the angle needing control between due to quaternary number
Change, the formula of conversion is as follows：
Above understand, quaternary number calculation method may finally obtain roll angle φ in motor process, pitching angle theta, driftage
Angle ψ.
Present invention has the advantages that：
First, without for often all arranging a corresponding interface with kind of signal, then control in data acquisition to get up just very
Convenient；
2nd, by the setting for buffer unit, so that data transfer is stablized it is not easy to lose；
3rd, pass through to compile frame, when the data variation of collection is various, the data of collection can be made more complete；
4th, gathered by mixing, so that the data of Real-time Collection is accurate much sooner；
5th, by the value of revised gyroscope so that unmanned plane during flying is more steady；
6th, timely flight information can be obtained by model algorithm, with the strategy of timely adjustment flight.
Brief description
The present invention is further described with reference to the accompanying drawings and examples
Fig. 1 is the schematic diagram of the data collecting system of the present invention
Fig. 2 is that the data collecting system of the present invention connects total figure
Fig. 3 is the functional block diagram of the data acquisition unit of the present invention
Fig. 4 is the data collecting system block diagram of the present invention
Fig. 5 is the reference picture of the coordinate system of the present invention
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not used to
Limit the present invention.
Figure below in conjunction with the present invention does detailed explaination, and Fig. 1 is the schematic diagram of the data collecting system of the present invention, and Fig. 2 is
The data collecting system of the present invention connects total figure, and Fig. 3 is the functional block diagram of the data acquisition unit of the present invention, and Fig. 4 is this
Bright data collecting system block diagram.
Connect total figure and understand, acquisition system contains computer, control and monitor console, signal source, industrial computer, distributor, adopts from Fig. 2
In conjunction with Fig. 3, acquisition means and recorder, understand that harvester is provided with analog quantity and gathers and edits unit, digital quantity decoding unit, real-time monitoring
Unit and 4 functional unit block of storage control unit.Analogue signal and digital signal are intended to by buffer unit as can be seen from Figure 1
Just can be for transmission in recorder (namely memorizer in Fig. 4), harvester also includes two center controls as can be known from Fig. 4
Device processed, simultaneously to being provided with two buffer units between master controller (1) and master controller (2).
Embodiment one：
As Fig. 1, due to unmanned plane local environment in flight course complicated and many property so that the signal collecting also relatively
Many, more complicated.Data acquisition unit needs to be transferred in recorder the data collecting in real time to be stored.Data acquisition
The signal that device collects is relatively more, all arranges a corresponding interface, then the control system of harvester if every kind of signal
System control is got up just cumbersome.The data acquisition unit of the present invention is using simulation mixing acquisition technique by the unmanned plane collecting
Data will be transmitted by same interface and stored to data logger.So without just for often all being arranged with kind of a signal
One corresponding interface, then control in data acquisition get up just very convenient.
Embodiment two
As Fig. 2 connects total figure, acquisition system passes through computer, control and monitor console, signal source, industrial computer, distributor, harvester
With recorder etc., data acquisition in flight course for the unmanned plane can be completed.The major function of computer is by control and monitor console
Send order to signal source and harvester, the data display simultaneously harvester collected and other process.Distributor
Major function is to provide suitable, stable electric energy to harvester.Harvester is by the data transfer collected to recorder
(memorizer) simultaneously stores.When recorder receives the remote reading order of harvester transmission, the data of storage is led to by recorder
Cross harvester and be sent to host computer.Harvester can receive the various instructions sending of ground monitoring platform, by control and monitor console
Logging modle is controlled operate, for example, recorder is realized with power on/off, the long-range reading of data, starts record/stopping note
The operation such as record, real-time monitoring recorder connects the various measurement data collected and carries out real-time monitoring to various working conditions, makes
Harvester can be after receiving igniting/flame-out instruction, in the time of defined, by carrying out to recorder (memorizer) adding
Power off operates.This setting is so that unmanned plane is real-time in time in data acquisition.
Embodiment three：
As can be known from Fig. 3, the present invention adopt 4 big unit modules design, be respectively analog quantity gather and edit unit, digital quantity decoding
Unit, real-time monitoring unit and storage control unit.Conventional connects according to data acquisition analog interface typically to be arranged and numeral
2 kinds of data interface type of mouth.The present invention improves, for realize collection data harvester, recorder and control and monitor console it
Between circulation, because gather and edit unit and digital quantity decoding unit of analog quantity has respective characteristic, Unit two should be provided separately.Logical
Cross mixing collection, so that the data of Real-time Collection is accurate much sooner.
Example IV：
As Fig. 4, the thin arrow line of black and black block arrow line represent 2 kinds of data transfer modes, the former serial mode,
The latter represents differential mode or parallel mode.Master controller 1 mainly completes collection to 48 tunnel analogue signals, distribution ginseng
The reception of the related command of number, the decoding of Multipath digital quantity data and master controller 2, completes multi-analog data and distribution
Parameter carries out mixing and compiles frame and the decoding to digital quantity, and by data input afterwards in corresponding buffer unit.Figure A and B
Represent different types of cache module respectively, cache module A major function is to realize data is sent into the caching before recorder；
The major function of cache module B is to enter row cache to the data before host computer real-time monitoring.The various instructions that control and monitor console sends are led to
Cross master controller 2 and be transferred to master controller 1 and recorder.Under test mode, the data in buffer A and B is controlled to divide
It is not transferred in host computer data recorder；Under reading state, 10 master controllers 2 are by data logger (memorizer)
Data by harvester monitoring interface send host computer split and analyzed by the setting for buffer unit, permissible
Make data transfer stable it is not easy to lose.
Embodiment five：
As Fig. 4, master controller (1) be used for analog data, numerical data, the collection of distribution supplemental characteristic and another in
The order that heart controller sends receives, and is additionally operable to analog data, distribution supplemental characteristic carries out mixing and compiles frame and numerical data simultaneously
Decoding, and will compile frame and decoding data input arrive corresponding buffer unit, data acquisition unit be to aircraft operation
When the analogue signal such as residing pressure, humiture be acquired, when analogue signal change is various, system can not be according to conventional
Common mode carries out data acquisition.The general mode of non-warp knit frame can only obtain the most basic AD value information after collection, when
When system occurs losing several, will be unable to capture corresponding data.Multi-analog is compiled frame technique and can be made the function of test system
More complete.
Embodiment six：
As Fig. 4, master controller (2) is for transmitting the various instructions that described control and monitor console sends to master controller (1)
With described recorder；One buffer unit be used for data send into described recorder before enter row cache, another buffer unit
For entering row cache to the data before real-time monitoring, in test mode, data is passed through described center and is controlled by buffer unit
Device (2) is transferred to storage in described recorder, and in reading state, in recorder, data storage passes through described master controller
(2) it is transferred in described control and monitor console, described data storage is split and analyzed by control and monitor console, so so that counting
More stable in time according to transmission and storage, data will not occur to lose and omit.
Embodiment seven：
As Fig. 5, build the initial point Oa of coordinate system (1) with one on horizontal plane static point, with orthogonal three to
Xa, Ya, Za are as the axle of coordinate system for amount, set up coordinate system.The Xa axle position of wherein coordinate system, in horizontal plane, points to due east direction
And parallel with parallel, Ya axle position is perpendicularly oriented to direct north and parallel in meridian, Za axle and Xa axle in horizontal plane with Xa axle
And direction vertical with the plane that Ya axle is constituted is upwards；
Reference frame (1) builds coordinate system (2), chooses the initial point Ob as coordinate system for the geometric center of unmanned plane, with
Sample is with orthogonal three vectorial Xb, Yb, Zb axles as coordinate system.The Xb axle of coordinate system and a pair of linea angulata of unmanned plane frame
Parallel, Yb axle is vertical with the described diagonal of frame, the plane being located perpendicular to Xb axle, Yb axle perpendicular to Ob, Zb axle with Xb axle,
Direction is upwards；
By coordinate system (2) rotation transformation, after rotation, coordinate system (2) is mapped in coordinate system (1), obtaining mapping pair should close
System, can be by rotating around a certain axle so that two coordinate systems overlap in sequence；
Coordinate system (2) is rotated a certain angle around X-axis, now the Y of the Y of coordinate system (2), Z axis and coordinate system (1), Z axis
The angle being formed is referred to as roll angle φ；
Coordinate system (2) is rotated a certain angle around Y-axis, now the X of the X of coordinate system (2), Z axis and coordinate system (1), Z axis
The angle being formed is referred to as pitching angle theta；
Coordinate system (2) is rotated a certain angle about the z axis, now the X of the X of coordinate system (2), Y-axis and coordinate system (1), Y-axis
The angle being formed is referred to as yaw angle ψ；
By the accelerometer that is arranged on unmanned plane and gyroscope；
The accelerometer (ax, ay, az) that can collect and the data of gyroscope (gx, gY, gz) and roll angle φ, pitching
Angle θ, yaw angle ψ, meet following algorithm model：
(1) q=[q0q1q2q3]T=[1 00 0]T
Wherein, ax, ay, az represent the angular acceleration rotating around X, Y, Z axis respectively, and gx, gY, gz represent respectively around X, Y, Z
The angular velocity that axle rotates, q0, q1, q2, q3 are the quaternionic vector of setting, Vx、Vy、VzIt is the speed along X, Y, Z axis；
With data ax of accelerometer, it is worth error after ay, az are re-quantization with quaternary number q0, q1, q2, q3, using meter
As gyroscope gx, the correction of gY, the gz data value to revise gyroscope, using revised gyroscope number for the error amount calculated
According to update quaternary number, the quaternary number after updating is converted into corresponding roll angle φ, pitching angle theta, yaw angle ψ, using complementation
The mode of filtering, revises gyroscope using the gravimetric value of quaternary number and the error of accelerometer, specifically meets following algorithm mould
Type：
Value (gx, gY, gz) according to revised gyroscope just can be updated to quaternary number, simultaneously by new quaternary
Accelerometer and the initial data double counting above equation of gyroscope that number and next cycle collect, can cyclically obtain
Obtain the value of revised gyroscope, update quaternary number simultaneously, can mutually be turned and the angle needing control between due to quaternary number
Change, the formula of conversion is as follows：
Above understand, quaternary number calculation method may finally obtain roll angle φ in motor process, pitching angle theta, driftage
Angle ψ, by this algorithm model so that unmanned plane is in flight course timely effective transmission data, and adjustment flight in time
State and flight attitude, by the value of revised gyroscope so that unmanned plane during flying is more steady；Calculated by model
Method can obtain timely flight information, with the strategy of timely adjustment flight.
Although to the present invention, illustrative specific embodiment is described above, in order to the technology of the art
Personnel are it will be appreciated that the present invention, but the present invention is not limited only to the scope of specific embodiment, the common skill to the art
For art personnel, as long as long as various change is in the spirit and scope of the invention of appended claim restriction and determination, one
Cut innovation and creation using present inventive concept all in the row of protection.
Claims (5)
1. a kind of Unmanned Aerial Vehicle Data acquisition system, including at least one matching storage control system, at least one information transfer
System, described data collecting system, also include at least one computer, at least one control and monitor console, at least one signal source, at least one
Industrial computer, at least one distributor, at least one harvester and at least one recorder it is characterised in that：Described harvester sets
Have at least one analog quantity gather and edit unit, at least one digital quantity decoding unit, at least one real-time monitoring unit and at least one storage control
Unit processed.
2. Unmanned Aerial Vehicle Data acquisition system according to claim 1 it is characterised in that：At least one described harvester is also
Include at least two master controllers, slow at least provided with two between master controller (1) and master controller (2)
Memory cell；
Wherein：
Master controller (1) is used for analog data, numerical data, the collection of distribution supplemental characteristic and another master controller and sends out
The order going out receives, and is additionally operable to analog data, distribution supplemental characteristic carries out mixing the decoding compiling frame and numerical data simultaneously, and will
The data input compiling frame with decoding is to corresponding buffer unit；
Master controller (2) is for transmitting the various instructions that described control and monitor console sends to master controller (1) and described note
Record device；
One buffer unit be used for sending into described recorder to data before enter row cache, another buffer unit is used for supervising to real-time
Data before survey enters row cache.
3. Unmanned Aerial Vehicle Data acquisition system according to claim 2 it is characterised in that：In test mode, described is slow
Data is transferred to storage in described recorder by described master controller (2) by memory cell.
4. Unmanned Aerial Vehicle Data acquisition system according to claim 2 it is characterised in that：In reading state, described note
In record device, data storage is transferred in described control and monitor console by described master controller (2), by described control and monitor console to institute
The data storage stated is split and is analyzed.
5. Unmanned Aerial Vehicle Data acquisition system according to claim 1,
Build the initial point Oa of coordinate system (1) with one on horizontal plane static point, with orthogonal three vectorial Xa, Ya, Za
As the axle of coordinate system, set up coordinate system.The Xa axle position of wherein coordinate system, in horizontal plane, is pointed to due east direction and is put down with parallel
OK, Ya axle position is perpendicularly oriented to direct north and parallel in meridian in horizontal plane with Xa axle, and Za axle is constituted with Xa axle and Ya axle
Plane vertical and direction is upwards；
Reference frame (1) build coordinate system (2), choose unmanned plane geometric center as coordinate system initial point Ob, equally with
Orthogonal three vectorial Xb, Yb, Zb are the axle of coordinate system.The Xb axle of coordinate system is put down with a pair of linea angulata of unmanned plane frame
OK, Yb axle is vertical with the described diagonal of frame, the plane being located perpendicular to Xb axle, Yb axle perpendicular to Ob, Zb axle with Xb axle, side
To upwards；
By coordinate system (2) rotation transformation, after rotation, coordinate system (2) is mapped in coordinate system (1), obtains mapping corresponding relation,
Can be by rotating around a certain axle in sequence so that two coordinate systems overlap；
Coordinate system (2) is rotated a certain angle around X-axis, now the Y of the Y of coordinate system (2), Z axis and coordinate system (1), Z axis are formed
Angle be referred to as roll angle φ；
Coordinate system (2) is rotated a certain angle around Y-axis, now the X of the X of coordinate system (2), Z axis and coordinate system (1), Z axis are formed
Angle be referred to as pitching angle theta；
Coordinate system (2) is rotated a certain angle about the z axis, now the X of the X of coordinate system (2), Y-axis and coordinate system (1), Y-axis are formed
Angle be referred to as yaw angle ψ；
Described Unmanned Aerial Vehicle Data acquisition system is additionally provided with accelerometer and gyroscope；
It is characterized in that：The accelerometer (ax, ay, az) collecting and the data of gyroscope (gx, gY, gz) and roll angle φ,
Pitching angle theta, yaw angle ψ, meet following algorithm model：
(1) q=[q0q1q2q3]T=[1 00 0]T
Wherein, ax, ay, az represent the angular acceleration rotating around X, Y, Z axis respectively, and gx, gY, gz represent respectively and turn around X, Y, Z axis
Dynamic angular velocity, q0, q1, q2, q3 are the quaternionic vector of setting, Vx、Vy、VzIt is the speed along X, Y, Z axis；
With data ax of accelerometer, it is worth error after ay, az are re-quantization with quaternary number q0, q1, q2, q3, using calculate
Error amount as gyroscope gx, the correction of gY, the gz data value to revise gyroscope, come using revised gyro data
Update quaternary number, the quaternary number after updating is converted into corresponding roll angle φ, pitching angle theta, yaw angle ψ, using complementary filter
Mode, revise gyroscope using the gravimetric value of quaternary number and the error of accelerometer, specifically meet following algorithm model：
Value (gx, gY, gz) according to revised gyroscope just can be updated to quaternary number, simultaneously by new quaternary number and
Accelerometer and the initial data double counting above equation of gyroscope that next cycle collects, can cyclically obtain and repair
The value of the gyroscope after just, is updated quaternary number simultaneously, can mutually be converted due to quaternary number and the angle needing control between, turn
The formula changed is as follows：
Above understand, quaternary number calculation method may finally obtain roll angle φ in motor process, pitching angle theta, yaw angle ψ.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019001076A1 (en) * | 2017-06-26 | 2019-01-03 | 深圳市道通智能航空技术有限公司 | Method, device, storage medium, and computer device for recording unmanned aerial vehicle flight log |
| CN112214030A (en) * | 2020-09-11 | 2021-01-12 | 中国航空工业集团公司成都飞机设计研究所 | One-station-control dual-computer display control method for unmanned aerial vehicle |
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