CN106527485A - Unmanned aerial vehicle (UAV) fixed-point flight control system based on photo-electro-mechanical integrated visual positioning - Google Patents
Unmanned aerial vehicle (UAV) fixed-point flight control system based on photo-electro-mechanical integrated visual positioning 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 a UAV fixed-point flight control system based on photo-electro-mechanical integrated visual positioning, and belongs to the technical field of photo-electro-mechanical integration. The system comprises a central processor, the central processor is in electrical input connection with an input unit and is in electrical output connection with a display unit, the central processor is connected with a visual positioning coordinate platform and a UAV automatic control system electrically bidirectionally, and the central processor is electrically bidirectionally connected with a data collection system. Compared with a preset UAV positioning control system, the system of the invention uses GPS-free visual positioning, a UAV can implement positioning in an urban narrow space and can be used to delivery articles, an SLAM algorithm circuit cooperates with an inertia measuring unit to calculate a flight route of the UAV, the calculation frequency is higher, and flight of the UAV is safer.
Description
Technical field
It is the present invention relates to field of optical technical field, specially a kind of based on Light Electrical one vision localization
Unmanned plane pinpoints flight control system.
Background technology
UAV referred to as " unmanned plane ", is manipulated using radio robot and the presetting apparatus provided for oneself
Not manned aircraft.Without driving cabin on machine, but the equipment such as automatic pilot, presetting apparatus are installed.On ground, naval vessels or
Machine tool remote control station personnel by the equipment such as radar, which is tracked, is positioned, remote control, remote measurement and Digital Transmission.Can repetitiousness use
Repeatedly.Aerial reconnaissance, monitoring, communication, antisubmarine, electronic interferences etc. are widely used in, with the continuous progress of Internet technology, China
E-commerce development is rapid, and market scale expansion is rapid, and material flow industry is also developed rapidly.But the behind of scene is also sudden and violent
Problems are exposed, such as express delivery is sent to not in time, and goods is sent to well damage etc., these problems also reflect artificial logistics neck
The defect in domain.In order to make up these defects, each big loglstics enterprise starts how thinking also ensures that clothes while reduces cost
The quality of business, meets customer need.Thus, there is low cost, small volume, the nothing that manipulation is easy, survival ability is stronger
Man-machine scheme of sending with charge free is arisen at the historic moment, and nowadays unmanned plane is sent with charge free and defined more perfect operational mode abroad, wherein especially
By taking U.S.'s Amazon as an example.The said firm's unmanned plane logistics test/trial running mode adopts " dispensing vehicle+unmanned plane " to be made for domestic input
With there is provided reference scheme.The pattern is mainly " last one kilometer " that unmanned plane is responsible for logistics distribution.For example it is exactly to match somebody with somebody
Car is sent after warehouse is left, only need to be walked on main road, then stopped at each little branch road, and send unmanned plane to enter
Row is dispensed, the next delivery task of preparation of being maked a return voyage after completing dispensing automatically, but common unmanned plane is to carry out determining by GPS
Position, and GPS is poor in narrow spacing wave, so may result in unmanned plane cannot be positioned, and unmanned plane passes through vision
When being positioned, due to relatively low to calculating frequency during data processing, cause during unmanned plane during flying, to be susceptible to deflection, so hold
Easily cause unmanned plane to collide with other objects, cause damage, for this purpose, it is proposed that a kind of fixed based on one body vision of Light Electrical
The unmanned plane fixed point flight control system of position.
The content of the invention
It is an object of the invention to provide a kind of unmanned plane fixed point flight control system based on Light Electrical one vision localization
System, with when solving the unmanned plane proposed in above-mentioned background technology and being positioned by vision, due to calculating during data processing
Frequency is relatively low, causes deflection is susceptible to during unmanned plane during flying, so easily causes unmanned plane and collides with other objects, makes
Into the problem of damage.
For achieving the above object, the present invention provides following technical scheme：A kind of nothing based on Light Electrical one vision localization
Man-machine fixed point flight control system, including central processing unit, the central processing unit are electrically input into connection input block, it is described in
Central processor electrically exports connection display unit, the central processing unit be electrically bi-directionally connected respectively vision localization coordinates platform and
Unmanned plane automatic control system, the central processing unit are electrically bi-directionally connected data collecting system, the data collecting system bag
Image acquisition subsystem and unmanned plane during flying data acquisition subsystem are included, the central processing unit is electrically bi-directionally connected data analysiss
System, the data analysis system include image analysis subsystem and unmanned plane during flying data analytics subsystem.
Preferably, the vision localization coordinates platform includes wireless receiver, and the wireless receiver is electrical
Output connection locating platform controller, the locating platform controller electrically export connection identification code driver element, the identification
Code driver element electrically exports connection identification code display, and the locating platform controller electrically exports connection light source and drives list
Unit, the light source driving units electrically export connection LED.
Preferably, the unmanned plane automatic control system includes wireless data receiving unit, and the wireless data receives single
First electrically output connection wireless data processing unit, the wireless data processing unit electrically export connection unmanned aerial vehicle control system
Chip, the unmanned aerial vehicle control system chip electrically export connection unmanned plane main body.
Preferably, described image acquisition subsystem includes monocular-camera, and the monocular-camera electrically exports connection figure
As collecting unit, described image collecting unit electrically export connection processor, the processor electrically exports connection data conversion
Unit, the Date Conversion Unit electrically export connection coding unit, and the coding unit electrically exports connection compression unit, institute
State compression unit and electrically export connection image data memory cell.
Preferably, the unmanned plane during flying data acquisition subsystem includes data acquisition unit, the data acquisition unit
Electrically input connects light flow sensor, Inertial Measurement Unit and ultrasonic sensor respectively, and the data acquisition unit is electrically defeated
Go out and connect microprocessor, the microprocessor electrically exports connection induced signal amplifying unit, the induced signal amplifying unit
Electrically output connects induced signal detector unit, and it is single that the induced signal detector unit electrically exports connection Unmanned Aerial Vehicle Data storage
Unit.
Preferably, described image analyzing subsystem includes image data extraction unit, described image data extracting unit electricity
Property output connection image data processing unit, described image data processing unit electrically exports connection controller, the controller
Image segmentation unit and image characteristics extraction unit are bi-directionally connected respectively electrically, the controller electrically exports connection image recognition
Unit, described image recognition unit electrically export connection judgment reasoning element, and the judging and deducing unit electrically exports connection letter
Breath feedback unit.
Preferably, the unmanned plane during flying data analytics subsystem includes Unmanned Aerial Vehicle Data extraction unit, the unmanned plane
Data extracting unit electrically exports connection Unmanned Aerial Vehicle Data processing unit, and the Unmanned Aerial Vehicle Data processing unit electrically exports connection
Server, the server are electrically bi-directionally connected computing unit, and the server electrically exports connection data analysis unit, described
Data analysis unit electrically exports connection data feedback unit.
Preferably, the computing unit includes SLAM algorithm circuits.
Compared with prior art, the invention has the beneficial effects as follows：Compared with existing unmanned plane positioning control system, this
It is bright to use the vision localization without GPS, so that unmanned plane can be positioned in city narrow space so that nobody
Machine can carry out the work for sending article with charge free, and it is winged to unmanned plane to be engaged mode by SLAM algorithms circuit and Inertial Measurement Unit
Walking along the street line carries out calculating process so that the frequency of calculating is higher, so that unmanned plane during flying is safer.
Description of the drawings
Fig. 1 is principle of the invention block diagram；
Fig. 2 is vision localization coordinates platform theory diagram of the present invention；
Fig. 3 is unmanned plane automatic control system theory diagram of the present invention；
Fig. 4 is image acquisition subsystem theory diagram of the present invention；
Fig. 5 is unmanned plane during flying data acquisition subsystem theory diagram of the present invention；
Fig. 6 is image analysis subsystem theory diagram of the present invention；
Fig. 7 is unmanned plane during flying data analytics subsystem theory diagram of the present invention.
In figure：1 central processing unit, 2 input blocks, 3 display units, 4 vision localization coordinates platforms, 41 wireless data transceivings
Device, 42 locating platform controllers, 43 identification code driver elements, 44 identification code display, 45 light source driving units, 46LED lamps, 5
Unmanned plane automatic control system, 51 wireless data receiving units, 52 wireless data processing units, 53 unmanned aerial vehicle control system cores
Piece, 54 unmanned plane main bodys, 6 data collecting systems, 61 image data acquiring subsystems, 611 monocular-cameras, 612 image acquisition
Unit, 613 processors, 614 Date Conversion Units, 615 coding units, 616 compression units, 617 image data memory cell, 62
Unmanned plane during flying data acquisition subsystem, 621 data acquisition units, 622 smooth flow sensors, 623 Inertial Measurement Units, 624 surpass
Sonic sensor, 625 microprocessors, 626 induced signal amplifying units, 627 induced signal detector units, 628 Unmanned Aerial Vehicle Datas
Memory element, 7 data analysis systems, 71 image analysis subsystems, 711 image data extraction units, 712 image real time transfer lists
Unit, 713 controllers, 714 image characteristics extraction units, 715 image segmentation units, 716 image identification units, 717 judging and deducings
Unit, 718 information feedback units, 72 unmanned plane during flying data analytics subsystems, 721 Unmanned Aerial Vehicle Data extraction units, 722 nobody
Machine data processing unit, 723 servers, 724 computing units, 725 data analysis unit, 726 data feedback units.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Fig. 1-7 are referred to, the present invention provides a kind of technical scheme：A kind of unmanned plane based on Light Electrical one vision localization
Fixed point flight control system, including central processing unit 1, electrically input connects input block 2, central processing unit 1 to central processing unit 1
Electrical output connection display unit 3, central processing unit 1 be electrically bi-directionally connected respectively vision localization coordinates platform 4 and unmanned plane from
Autocontrol system 5, central processing unit 1 are electrically bi-directionally connected data collecting system 6, and data collecting system 6 includes image acquisition
System 61 and unmanned plane during flying data acquisition subsystem 62, central processing unit 1 are electrically bi-directionally connected data analysis system 7, data
Analysis system includes image analysis subsystem 71 and unmanned plane during flying data analytics subsystem 72, is regarded by the input of input block 2
Feel the baseline values needed for the identification code comparative information and later data Treatment Analysis of elements of a fix platform 4, be data acquisition system
System 6 carries out data acquisition, and data collecting system 6 is respectively by image data acquiring subsystem 61 to ring around during unmanned plane during flying
The image in border is acquired the data with unmanned plane during flying data acquisition subsystem 62 to unmanned plane main body 54 during unmanned plane during flying
It is acquired, the view data of the unmanned plane real-time flight that the collection of image data acquiring subsystem 61 comes is later stage unmanned plane during flying
Data analysiss provide data basis, and stability data during unmanned plane during flying 62 flight of data acquisition subsystem is acquired, and is
Later stage provides data basis to unmanned plane judgement of stability, and the data after collection carry out data analysiss by data analysis system 7
Process, data analysis system 7 respectively by image analysis subsystem 71 to image acquisition subsystem 61 gather come image information
It is analyzed and processes the number gathered to unmanned plane during flying data acquisition subsystem 62 with unmanned plane during flying data analytics subsystem 72
Data after analyzing according to the calculating basic data and image analysis subsystem 71 of the input of, input block 2 are analyzed processs, logical
The mode that the SLAM algorithms circuit and Inertial Measurement Unit 623 crossed in computing unit 724 is engaged, can improve calculating frequency,
So that unmanned plane is safer when the data as obtained by analysis carry out flight, data analysis system 7 is by the data after analysis
Central processing unit 1 is fed back to, by the data transfer after analysis to unmanned plane automatic control system 5, unmanned plane is certainly for central processing unit 1
Data of the autocontrol system 5 as obtained by analysis are adjusted control to unmanned plane main body 54, and display unit 3 is to unmanned plane during flying
Position is shown, is easy to operator to be observed, is surveyed by the SLAM algorithms circuit and inertia that pass through in computing unit 724
The mode that amount unit 623 is engaged, improves computation rate during unmanned plane during flying, and such unmanned plane is just not easy in flight
Glance off, and then reduce the situation generation that unmanned plane is smashed.
Wherein, vision localization coordinates platform 4 includes wireless receiver 41, and electrically output connects wireless receiver 41
Locating platform controller 42 is connect, electrically output connects identification code driver element 43 to locating platform controller 42, and identification code drives single
Electrically output connects identification code display 44,42 electrical output connection light source driving units 45 of locating platform controller, light for unit 43
Electrically output connects LED 46 to source driver element 45, during vision localization coordinates platform 4 is received by wireless receiver 41
The startup information that central processor 1 sends, locating platform controller 42 control identification code driver element 43 to identification code display
44 are driven work, and the vision localization coordinates platform 4 is shown that locating platform controller 42 is controlled by identification code display 44
Light source driving units processed 45 are driven work to LED 46, and LED 46 is lighted, and provides light source for unmanned plane vision localization；
Unmanned plane automatic control system 5 includes wireless data receiving unit 51, and wireless data receiving unit 51 is electrically exported
Connection wireless data processing unit 52, electrically output connects unmanned aerial vehicle control system chip 53, nothing to wireless data processing unit 52
Electrically output connects unmanned plane main body 54 to man-machine control system chip 53, and central processing unit 1 will be analyzed through data analysis system 7
Data transfer afterwards passes through wireless data receiving unit 51 pairs to unmanned plane automatic control system 5, unmanned plane automatic control system 5
The wireless messages that the transmission of central processing unit 1 comes are received, and wireless data processing unit 52 pairs receives the information come and carries out data
Process, the mode of process is to enter row format conversion and signal reinforcement to the information being input into, and is easy to unmanned aerial vehicle control system chip 53
Data are identified, unmanned aerial vehicle control system chip 53 is controlled to unmanned plane main body 54, unmanned aerial vehicle control system chip
53 major control mode is that the propeller to unmanned plane and compensation propeller are controlled so that unmanned plane pig main body 54 can
The top of vision localization coordinates platform 4 is stayed in smoothly；
Image acquisition subsystem 61 includes monocular-camera 611, and electrically output connects image acquisition list to monocular-camera 611
Unit 612, electrically output connects processor 613,613 electrical output connection Date Conversion Unit of processor to image acquisition units 612
614, electrically output connects coding unit 615 to Date Conversion Unit 614, and coding unit 615 electrically exports connection compression unit
616, electrically output connects image data memory cell 617 to compression unit 616, and monocular-camera 611 is multigroup, monocular-camera
The image data of surrounding during 611 pairs of unmanned plane during flyings is recorded, and image capturing system 611 is to multigroup monocular-camera
View data on 611 is acquired, and the data after collection pass to Date Conversion Unit 614 by processor 613 and carry out figure
As data conversion so that the image information of collection is converted into the image data format for being easy to store and encode, the number after conversion
According to being encoded by coding unit 615, the data after coding carry out data compression, compression and volume by compression unit 616 again
Data after code will not occur change in transmission and storage so that the safety of data and accuracy are higher, and view data is deposited
The view data that 617 pairs of collections of storage unit come is stored；
Unmanned plane during flying data acquisition subsystem 62 includes data acquisition unit 621, and data acquisition unit 621 is electrical respectively
Input connection light flow sensor 622, Inertial Measurement Unit 623 and ultrasonic sensor 624, data acquisition unit 621 are electrically defeated
Go out to connect microprocessor 625, electrically output connects induced signal amplifying unit 626, induced signal amplifying unit to microprocessor 625
626 electrically export connection induced signal detector unit 627, and induced signal detector unit 627 electrically exports connection Unmanned Aerial Vehicle Data
Memory element 628, light flow sensor 622 are sensed to unmanned plane horizontal velocity, angle of the Inertial Measurement Unit 623 to unmanned plane
Speed and acceleration are measured, and ultrasonic sensor 622 is measured to the height of unmanned plane, 621 points of data acquisition unit
The other data on light flow sensor 622, Inertial Measurement Unit 623 and ultrasonic sensor 624 are acquired, the number after collection
Carry out signal processing and amplifying according to induced signal amplifying unit 626 being passed to by microprocessor 625, be easy to follow-up to induced signal
Detected, the data after processing and amplifying are detected to induced signal by induced signal detector unit 627 so that collection comes
Data more have accuracy, carry out data storage finally by Unmanned Aerial Vehicle Data memory element 628；
Image analysis subsystem 71 includes image data extraction unit 711, and electrically output connects image data extraction unit 711
Image data processing unit 712 is connect, electrically output connects controller 713 to image data processing unit 712, and controller 713 is distinguished
Image segmentation unit 715 and image characteristics extraction unit 714 are bi-directionally connected electrically, controller 713 electrically know by output connection figure picture
Other unit 716, image identification unit 716 electrically export connection judgment reasoning element 717, and judging and deducing unit 717 is electrically exported
Link information feedback unit 718, image data extraction unit 711 are carried out to the image information that the collection of image acquisition subsystem 61 comes
Collection, the data after collection carry out image procossing by image data processing unit 712, and main processing mode is that image is entered
Row goes out noise, image enhaucament and image optimization, and the data transfer after image procossing is to controller 713, the control image of controller 713
Cutting unit 715 carries out dividing processing to image, and the image after dividing processing is believed to image by image characteristics extraction unit 714
Breath carries out feature extraction, and the data after feature extraction carry out image recognition by image identification unit 716, will be input block 2 defeated
In the view data that the identification code comparative information of the vision localization coordinates platform 4 for entering is come with collection on vision localization coordinates platform 4
Identification code be identified, the data after the identification of judging and deducing unit 717 pairs make inferences judgement, judge whether which is consistent,
Information after judgement feeds back to central processing unit 1 by information feedback unit 718；
Unmanned plane during flying data analytics subsystem 72 includes Unmanned Aerial Vehicle Data extraction unit 721, and Unmanned Aerial Vehicle Data extracts single
Electrically output connects Unmanned Aerial Vehicle Data processing unit 722,722 electrical output Connection Service of Unmanned Aerial Vehicle Data processing unit for unit 721
Device 723, server 723 are electrically bi-directionally connected computing unit 724, and electrically output connects data analysis unit 725 to server 723,
Electrically output connects data feedback unit 726 to data analysis unit 725, and computing unit 724 includes SLAM algorithm circuits, by nothing
The data next to the collection of unmanned plane during flying data acquisition subsystem 62 of man-machine data extracting unit 721, the meter of the input of input block 2
Data after calculation is analyzed with basic data and image analysis subsystem 71 are extracted, and the data Unmanned Aerial Vehicle Data after extraction is processed
Unit 722 pairs extracts the data come and carries out taxonomic revision, and the data transfer after taxonomic revision is controlled to server 723, server 723
Computing unit processed 724 pairs extracts the data come and calculates, computing unit 724 by SLAM algorithms circuit to extract come data
Algorithm process being carried out, being calculated in higher speed and rational flight path is calculated for unmanned plane during flying under frequency, computing unit 724 is counted
Data of the data after calculation after data analysis unit 725 pairs is calculated are analyzed, computing unit 724 calculate it is a plurality of
Rational routes are preferentially selected.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding can carry out various changes, modification, replacement to these embodiments without departing from the principles and spirit of the present invention
And modification, the scope of the present invention be defined by the appended.
Claims (8)
1. a kind of unmanned plane fixed point flight control system based on Light Electrical one vision localization, including central processing unit (1), its
It is characterised by：The central processing unit (1) electrically input connection input block (2), electrically output connects the central processing unit (1)
Connect display unit (3), the central processing unit (1) be electrically bi-directionally connected respectively vision localization coordinates platform (4) and unmanned plane from
Autocontrol system (5), the central processing unit (1) are electrically bi-directionally connected data collecting system (6), the data collecting system
(6) including image acquisition subsystem (61) and unmanned plane during flying data acquisition subsystem (62), the central processing unit (1) is electrically
Data analysis system (7) is bi-directionally connected, the data analysis system includes image analysis subsystem (71) and unmanned plane during flying number
According to analyzing subsystem (72).
2. a kind of unmanned plane based on Light Electrical one vision localization according to claim 1 pinpoints flight control system,
It is characterized in that：The vision localization coordinates platform (4) is including wireless receiver (41), the wireless receiver
(41) electrically output connection locating platform controller (42), electrically output connection identification code drives the locating platform controller (42)
Moving cell (43), the identification code driver element (43) electrically output connection identification code display (44), the locating platform control
Device (42) processed electrically output connection light source driving units (45), the light source driving units (45) electrically export connection LED
(46)。
3. a kind of unmanned plane based on Light Electrical one vision localization according to claim 1 pinpoints flight control system,
It is characterized in that：The unmanned plane automatic control system (5) includes wireless data receiving unit (51), and the wireless data is received
Unit (51) electrically output connection wireless data processing unit (52), the wireless data processing unit (52) electrically output connection
Unmanned aerial vehicle control system chip (53), the unmanned aerial vehicle control system chip (53) electrically output connection unmanned plane main body (54).
4. a kind of unmanned plane based on Light Electrical one vision localization according to claim 1 pinpoints flight control system,
It is characterized in that：Described image acquisition subsystem (61) includes monocular-camera (611), and the monocular-camera (611) is electrically
Output connection image acquisition units (612), described image collecting unit (612) electrically output connection processor (613), the place
Reason device (613) electrically output connection Date Conversion Unit (614), the electrical output connection coding of the Date Conversion Unit (614)
Unit (615), the coding unit (615) electrically output connection compression unit (616), the compression unit (616) are electrically defeated
Go out to connect image data memory cell (617).
5. a kind of unmanned plane based on Light Electrical one vision localization according to claim 1 pinpoints flight control system,
It is characterized in that：The unmanned plane during flying data acquisition subsystem (62) is including data acquisition unit (621), the data acquisition
Electrically input connects light flow sensor (622), Inertial Measurement Unit (623) and ultrasonic sensor to unit (621) respectively
(624), the electrical output connecting microprocessor (625) of the data acquisition unit (621), the microprocessor (625) are electrically defeated
Go out to connect induced signal amplifying unit (626), the induced signal amplifying unit (626) electrically output connection induced signal detection
Unit (627), the induced signal detector unit (627) electrically output connection Unmanned Aerial Vehicle Data memory element (628).
6. a kind of unmanned plane based on Light Electrical one vision localization according to claim 1 pinpoints flight control system,
It is characterized in that：Described image analyzing subsystem (71) includes image data extraction unit (711), and described image data are extracted single
First (711) electrically output connection image data processing unit (712), electrically output connects described image data processing unit (712)
Controller (713) is connect, the controller (713) is electrically bi-directionally connected image segmentation unit (715) and image characteristics extraction respectively
Unit (714), the controller (713) electrically output connection image identification unit (716), described image recognition unit (716)
Electrically output connection judgment reasoning element (717), the judging and deducing unit (717) electrically export link information feedback unit
(718)。
7. a kind of unmanned plane based on Light Electrical one vision localization according to claim 1 pinpoints flight control system,
It is characterized in that：The unmanned plane during flying data analytics subsystem (72) is including Unmanned Aerial Vehicle Data extraction unit (721), the nothing
Electrically output connection Unmanned Aerial Vehicle Data processing unit (722) of man-machine data extracting unit (721), the Unmanned Aerial Vehicle Data processes single
First (722) electrically export connection server (723), and the server (723) is electrically bi-directionally connected computing unit (724), described
Server (723) electrically output connection data analysis unit (725), the data analysis unit (725) electrically export connection number
According to feedback unit (726).
8. a kind of unmanned plane based on Light Electrical one vision localization according to claim 1 pinpoints flight control system,
It is characterized in that：The computing unit (724) is including SLAM algorithm circuits.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107144281A (en) * | 2017-06-30 | 2017-09-08 | 飞智控（天津）科技有限公司 | Unmanned plane indoor locating system and localization method based on cooperative target and monocular vision |
| CN108417095A (en) * | 2017-09-30 | 2018-08-17 | 喻兰辰晖 | A kind of monitoring method of the flight position tracking and health of aircraft |
| CN108733068A (en) * | 2017-04-24 | 2018-11-02 | 菜鸟智能物流控股有限公司 | Aircraft with a flight control device |
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