CN106656683A - Device and method for detecting communication link failure of unmanned aerial vehicle (UAV) - Google Patents
Device and method for detecting communication link failure of unmanned aerial vehicle (UAV) Download PDFInfo
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- CN106656683A CN106656683A CN201710107429.4A CN201710107429A CN106656683A CN 106656683 A CN106656683 A CN 106656683A CN 201710107429 A CN201710107429 A CN 201710107429A CN 106656683 A CN106656683 A CN 106656683A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L43/00—Arrangements for monitoring or testing data switching networks
- H04L43/08—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters
- H04L43/0805—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters by checking availability
- H04L43/0811—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters by checking availability by checking connectivity
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L43/00—Arrangements for monitoring or testing data switching networks
- H04L43/08—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters
- H04L43/0805—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters by checking availability
- H04L43/0817—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters by checking availability by checking functioning
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L43/00—Arrangements for monitoring or testing data switching networks
- H04L43/10—Active monitoring, e.g. heartbeat, ping or trace-route
Abstract
The invention discloses a device and method for detecting the communication link failure of an unmanned aerial vehicle (UAV), relating to the field of UAV communication technology. The method comprises the following steps: monitoring the state data of a servo radar in a communication link of the UAV by using a servo radar simulation module; monitoring the state data of an airborne communication terminal in the communication link of the UAV by using an airborne communication terminal simulation module; monitoring the state data of a ground communication terminal in the communication link of the UAV by using a ground communication terminal simulation module; and monitoring the state data of a flight control system in the communication link of the UAV by using a flight control system simulation module. According to the method disclosed by the invention, the system-level failure of the communication link of the UAV can be detected, the system failure can be rapidly located to a specific device, the efficiency of detecting and removing the failure of each device in the communication link can be increased, and thus the problems that the excessive cost is caused due to direct replacement of the devices or systems, the failure cannot be effectively located by adopting a single-node detection method, and the single node detection method consumes more time and labor during the detection can be solved.
Description
Technical field
The present invention relates to UAV Communication technical field, more particularly to a kind of UAV Communication link failure detection device and
Method.
Background technology
UAV Communication link is by unmanned aerial vehicle onboard communication terminal equipment, ground communication terminal, flight control system and servo
The communication link that the equipment such as radar are constituted, realizes the control to unmanned plane.
At present, it is when UAV Communication link failure, more using equipment (system) replaces realization failture evacuation or logical
Which realizes fault location with the link UNICOM situation between equipment (system) to cross detection instrument direct detection, and works as UAV Communication chain
When link between the component devices of road breaks down, above-mentioned single-unit point detecting method cannot effective positioning failure, and detection process
Time-consuming, effort.
The content of the invention
It is an object of the invention to provide a kind of UAV Communication link failure detection device and method, existing so as to solve
Foregoing problems present in technology.
To achieve these goals, the technical solution used in the present invention is as follows：
A kind of UAV Communication link failure detection device, including：
Data is activation receiver module, servo radar simulation module, airborne communication terminal analog module, flight control system mould
Intend module and ground communication terminal analog module；The UAV Communication link includes servo radar, airborne communication terminal, flight
Control system and ground communication terminal, the servo radar, flight control system and ground communication terminal are airborne with described respectively
Communication terminal equipment data cube computation, the flight control system and the ground communication terminal data cube computation；The data is activation is received
Module respectively with the servo radar and ground communication terminal data cube computation；
The data is activation receiver module is used to receive ground communication terminal communications state data and board state data, watches
Take radar communication status data, board state data, pitching and azimuth information, airborne communication terminal communications state data and board
Status data, the bearing of aircraft and range information that flight control system sends；
The servo radar simulation module for obtaining corresponding servo radar data from the data is activation receiver module,
Monitoring servo radar state, and according to state change, detection servo radar whether failure；
The airborne communication terminal analog module is for from the corresponding airborne communication terminal of data is activation receiver module acquisition
Data, monitor airborne communication terminal equipment state, and according to state change, detect airborne communication terminal equipment whether failure；
The flight control system analog module is controlled for obtaining corresponding flight from the data is activation receiver module
System data, monitors the state of flight control system, and according to state change, detection flight control system whether failure；
The ground communication terminal analog module is for from the corresponding ground communication of data is activation receiver module acquisition
Terminal data, monitor ground communication terminal state, and according to state change, detection ground communication terminal whether failure.
Preferably,
The servo radar data includes：Communication data, servo antenna pitching data and bearing data；
The airborne communication terminal data include：Communication data, board state and heartbeat data；
The flight control system data include：Communication data, the flight orientation of aircraft and range information；
The ground communication terminal data include：Communication data, board state and heartbeat data.
Preferably, the detection servo radar whether failure, adopts with the following method：If feedback information can not be received,
Then failure, if it is possible to receive feedback information, then the feedback information to receiving is verified, if verification passes through, watches
Take radar normal, otherwise, servo radar fault.
Preferably, the airborne communication terminal equipment of the detection whether failure, adopts with the following method：If feedback letter can not be received
Cease, then failure, if it is possible to receive feedback information, then the feedback information to receiving is verified, if verification passes through,
Airborne communication terminal is normal, otherwise, airborne communication terminal failure.
Preferably, the detection flight control system whether failure, adopts with the following method：If feedback letter can not be received
Cease, then failure, if it is possible to receive feedback information, then the feedback information to receiving is verified, if verification passes through,
Flight control system is normal, otherwise, flight control system failure.
Preferably, the detection ground communication terminal whether failure, adopts with the following method：If feedback letter can not be received
Cease, then failure, if it is possible to receive feedback information, then the feedback information to receiving is verified, if verification passes through,
Ground communication terminal is normal, otherwise, ground communication terminal failure.
Preferably, also including parameter setting module, for arranging communication plan, the communications band of communication band and communication frequency
Rate, the parameter setting module simulate mould with data is activation receiver module, servo radar simulation module, airborne communication terminal respectively
Block, flight control system analog module are connected with ground communication terminal analog module.
A kind of UAV Communication link failure detection method, using above-mentioned UAV Communication link failure detection device, wraps
Include following steps：
S1, by the data is activation receiver module is connected with the servo radar and ground communication terminal data respectively
Connect, the UAV Communication link failure detection device is accessed in the UAV Communication link；
S2, start UAV Communication link on each equipment, arrange communication plan, arrange communication band communications band and
Communication frequency；
S3, the data is activation receiver module send to each equipment on UAV Communication link and start test packet, often
Send to online equipment every certain hour and inquire broadcasting packet, and receive the reply message of each equipment, if not collecting reply
Message, then device fails；Otherwise, equipment is normal；
S4, the UAV Communication link failure detection device send heartbeat message to online equipment every some cycles,
If in certain period of time, not receiving the feedback information of equipment, repetition sends above-mentioned message several times, if still not receiving
Feedback information, then judge equipment fault, otherwise, it is determined that equipment is normal.
Preferably, using SLIP agreements, concrete form is the heartbeat message：SLIP heads+unit identification id+message id+
Message-length+message content+message verification+SLIP tails.
Preferably, the feedback information for not receiving equipment includes：The communication information of equipment is not received, and is received
The communication information of equipment, but the feedback information for receiving can not meet verification condition, verification failure.
The invention has the beneficial effects as follows：UAV Communication link failure detection device provided in an embodiment of the present invention and side
Method, is monitored, is used to the status data of servo radar in UAV Communication link by using servo radar simulation module
Airborne communication terminal analog module is monitored to the status data of the airborne communication terminal in UAV Communication link, uses ground
Face communication terminal equipment analog module is monitored to the status data of the ground communication terminal in UAV Communication link, uses flight
Control system simulation module is monitored to the status data of the flight control system in UAV Communication link, realizes nobody
Machine communication link system level fault detect, the system failure quickly can be navigated to concrete equipment, respectively set in improving communication link
Standby fault detect and efficiency are excluded, and so as to solve direct replacement equipment or system in prior art, cause high cost
Problem, and using single-unit point detecting method cannot effective positioning failure, cause detection process to take, the problem of effort.
Description of the drawings
Fig. 1 is the principle schematic of UAV Communication link failure detection device and method provided in an embodiment of the present invention.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with accompanying drawing, the present invention is entered
Row is further described.It should be appreciated that specific embodiment described herein is not used to only to explain the present invention
Limit the present invention.
Embodiment one
As shown in figure 1, a kind of UAV Communication link failure detection device is embodiments provided, including：
Data is activation receiver module, servo radar simulation module, airborne communication terminal analog module, flight control system mould
Intend module and ground communication terminal analog module；The UAV Communication link includes servo radar, airborne communication terminal, flight
Control system and ground communication terminal, the servo radar, flight control system and ground communication terminal are airborne with described respectively
Communication terminal equipment data cube computation, the flight control system and the ground communication terminal data cube computation；The data is activation is received
Module respectively with the servo radar and ground communication terminal data cube computation；
The data is activation receiver module is used to receive ground communication terminal communications state data and board state data, watches
Take radar communication status data, board state data, pitching and azimuth information, airborne communication terminal communications state data and board
Status data, the bearing of aircraft and range information that flight control system sends；
The servo radar simulation module for obtaining corresponding servo radar data from the data is activation receiver module,
Monitoring servo radar state, and according to state change, detection servo radar whether failure；
The airborne communication terminal analog module is for from the corresponding airborne communication terminal of data is activation receiver module acquisition
Data, monitor airborne communication terminal equipment state, and according to state change, detect airborne communication terminal equipment whether failure；
The flight control system analog module is controlled for obtaining corresponding flight from the data is activation receiver module
System data, monitors the state of flight control system, and according to state change, detection flight control system whether failure；
The ground communication terminal analog module is for from the corresponding ground communication of data is activation receiver module acquisition
Terminal data, monitor ground communication terminal state, and according to state change, detection ground communication terminal whether failure.
Wherein,
The servo radar data includes：Communication data, servo antenna pitching data and bearing data；
The airborne communication terminal data include：Communication data, board state and heartbeat data；
The flight control system data include：Communication data, the flight orientation of aircraft and range information；
The ground communication terminal data include：Communication data, board state and heartbeat data.
In a preferred embodiment of the invention, the detection servo radar whether failure, can adopt with the following method：
If feedback information, failure can not be received, if it is possible to receive feedback information, then the feedback information to receiving is carried out
Verification, if verification passes through, servo radar is normal, otherwise, servo radar fault.
In a preferred embodiment of the invention, the airborne communication terminal equipment of the detection whether failure, can adopt as follows
Method：If feedback information, failure can not be received, if it is possible to receive feedback information, then the feedback letter to receiving
Breath is verified, if verification passes through, airborne communication terminal is normal, otherwise, airborne communication terminal failure.
In a preferred embodiment of the invention, the detection flight control system whether failure, can adopt as follows
Method：If feedback information, failure can not be received, if it is possible to receive feedback information, then the feedback letter to receiving
Breath is verified, if verification passes through, flight control system is normal, otherwise, flight control system failure.
In a preferred embodiment of the invention, the detection ground communication terminal whether failure, can adopt as follows
Method：If feedback information, failure can not be received, if it is possible to receive feedback information, then the feedback letter to receiving
Breath is verified, if verification passes through, ground communication terminal is normal, otherwise, ground communication terminal failure.
UAV Communication link failure detection device provided in an embodiment of the present invention, can also include parameter setting module,
For arranging communication plan, the communications band of communication band and communication frequency, the parameter setting module respectively with data is activation
Receiver module, servo radar simulation module, airborne communication terminal analog module, flight control system analog module and ground communication
Terminal analog module is connected.
So, UAV Communication link failure detection device provided in an embodiment of the present invention is by using servo radar simulation
Module is monitored to the status data of servo radar in UAV Communication link, using airborne communication terminal analog module to nothing
The status data of the airborne communication terminal in man-machine communication link is monitored, using ground communication terminal analog module to nobody
The status data of the ground communication terminal in machine communication link is monitored, using flight control system analog module to unmanned plane
The status data of the flight control system in communication link is monitored, and realizes the inspection of UAV Communication chain-circuit system level failure
Survey, the system failure quickly can be navigated to concrete equipment, improve fault detect and the efficiency row of each equipment in communication link
Remove, so as to solve direct replacement equipment or system in prior art, cause the problem of high cost, and examined using single node
Survey method cannot effective positioning failure, cause that detection process is time-consuming, the problem of effort.
And, UAV Communication link failure detection device provided in an embodiment of the present invention, it is easy to dispose is installed and is carried
It is convenient, it is easy to carry out the operation detection and experimental work of unmanned plane.
Embodiment two
A kind of UAV Communication link failure detection method is embodiments provided, using the nothing described in embodiment one
Man-machine communication link failure detection device, comprises the steps：
S1, by the data is activation receiver module is connected with the servo radar and ground communication terminal data respectively
Connect, the UAV Communication link failure detection device is accessed in the UAV Communication link；
S2, start UAV Communication link on each equipment, arrange communication plan, arrange communication band communications band and
Communication frequency；
S3, the data is activation receiver module send to each equipment on UAV Communication link and start test packet, often
Send to online equipment every certain hour and inquire broadcasting packet, and receive the reply message of each equipment, if not collecting reply
Message, then device fails；Otherwise, equipment is normal；
S4, the UAV Communication link failure detection device send heartbeat message to online equipment every some cycles,
If in certain period of time, not receiving the feedback information of equipment, repetition sends above-mentioned message several times, if still not receiving
Feedback information, then judge equipment fault, otherwise, it is determined that equipment is normal.
Wherein, the 26S Proteasome Structure and Function of UAV Communication link failure detection device is had been carried out in embodiment one in detail
Elaboration, will not be described here.
In a preferred embodiment of the present invention, the heartbeat message using SLIP agreements, concrete form is：SLIP heads+
Unit identification id+message id+message-length+message content+message verification+SLIP tails.
Wherein, the feedback information for not receiving equipment includes：The communication information of equipment is not received, and be have received
The communication information of equipment, but the feedback information for receiving can not meet verification condition, verification failure.
By using above-mentioned technical proposal disclosed by the invention, having obtained following beneficial effect：The embodiment of the present invention is carried
For UAV Communication link failure detection apparatus and method, by using servo radar simulation module to UAV Communication link
The status data of middle servo radar is monitored, using airborne communication terminal analog module to UAV Communication link in it is airborne
The status data of communication terminal equipment is monitored, the ground in UAV Communication link is led to using ground communication terminal analog module
The status data of letter terminal is monitored, the flight in UAV Communication link is controlled using flight control system analog module
The status data of system is monitored, and realizes UAV Communication chain-circuit system level fault detect, can be quick by the system failure
Concrete equipment is navigated to, the fault detect and efficiency for improving each equipment in communication link is excluded, so as to solve prior art
In directly replacement equipment or system, cause the problem of high cost, and effectively cannot be positioned using single-unit point detecting method former
Barrier, causes that detection process is time-consuming, the problem of effort.
Each embodiment in this specification is described by the way of progressive, what each embodiment was stressed be with
The difference of other embodiment, between each embodiment identical similar part mutually referring to.
Those skilled in the art should be understood that the sequential of the method and step that above-described embodiment is provided can be entered according to practical situation
Row accommodation, is concurrently carried out also dependent on practical situation.
All or part of step in the method that above-described embodiment is related to can be instructed by program correlation hardware come
Complete, described program can be stored in the storage medium that computer equipment can read, for performing the various embodiments described above side
All or part of step described in method.The computer equipment, for example：Personal computer, server, the network equipment, intelligent sliding
Dynamic terminal, intelligent home device, wearable intelligent equipment, vehicle intelligent equipment etc.；Described storage medium, for example：RAM、
ROM, magnetic disc, tape, CD, flash memory, USB flash disk, portable hard drive, storage card, memory stick, webserver storage, network cloud storage
Deng.
Finally, in addition it is also necessary to explanation, herein, such as first and second or the like relational terms be used merely to by
One entity or operation are made a distinction with another entity or operation, and are not necessarily required or implied these entities or operation
Between there is any this actual relation or order.And, term " including ", "comprising" or its any other variant are anticipated
Covering including for nonexcludability, so that a series of process, method, commodity or equipment including key elements not only includes that
A little key elements, but also including other key elements being not expressly set out, or also include for this process, method, commodity or
The intrinsic key element of equipment.In the absence of more restrictions, the key element for being limited by sentence "including a ...", does not arrange
Except also there is other identical element in including the process of the key element, method, commodity or equipment.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
Depending on protection scope of the present invention.
Claims (10)
1. a kind of UAV Communication link failure detection device, it is characterised in that include：
Data is activation receiver module, servo radar simulation module, airborne communication terminal analog module, flight control system simulation mould
Block and ground communication terminal analog module；The UAV Communication link includes servo radar, airborne communication terminal, flight control
System and ground communication terminal, the servo radar, flight control system and ground communication terminal respectively with the airborne communication
Terminal data cube computation, the flight control system and the ground communication terminal data cube computation；The data is activation receiver module
Respectively with the servo radar and ground communication terminal data cube computation；
The data is activation receiver module is used to receive ground communication terminal communications state data and board state data, servo thunder
Up to communications state data, board state data, pitching and azimuth information, airborne communication terminal communications state data and board state
Data, the bearing of aircraft and range information that flight control system sends；
The servo radar simulation module is monitored for obtaining corresponding servo radar data from the data is activation receiver module
Servo radar state, and according to state change, detection servo radar whether failure；
The airborne communication terminal analog module for obtaining corresponding airborne communication terminal data from data is activation receiver module,
Monitor airborne communication terminal equipment state, and according to state change, detect airborne communication terminal equipment whether failure；
The flight control system analog module is for from the corresponding flight control system of data is activation receiver module acquisition
Data, monitor the state of flight control system, and according to state change, detection flight control system whether failure；
The ground communication terminal analog module is for from the corresponding ground communication terminal of data is activation receiver module acquisition
Data, monitor ground communication terminal state, and according to state change, detection ground communication terminal whether failure.
2. UAV Communication link failure detection device according to claim 1, it is characterised in that
The servo radar data includes：Communication data, servo antenna pitching data and bearing data；
The airborne communication terminal data include：Communication data, board state and heartbeat data；
The flight control system data include：Communication data, the flight orientation of aircraft and range information；
The ground communication terminal data include：Communication data, board state and heartbeat data.
3. UAV Communication link failure detection device according to claim 1, it is characterised in that the detection servo thunder
The failure up to whether, adopts with the following method：If feedback information, failure can not be received, if it is possible to receive feedback information,
Then the feedback information to receiving is verified, if verification passes through, servo radar is normal, otherwise, servo radar fault.
4. UAV Communication link failure detection device according to claim 1, it is characterised in that the detection is airborne logical
Letter terminal whether failure, adopts with the following method：If feedback information, failure can not be received, if it is possible to receive feedback
Information, then the feedback information to receiving verify, if verification passes through, airborne communication terminal is normal, otherwise, airborne logical
Letter terminal failure.
5. UAV Communication link failure detection device according to claim 1, it is characterised in that the detection flight control
System processed whether failure, adopts with the following method：If feedback information, failure can not be received, if it is possible to receive feedback
Information, then the feedback information to receiving verify, if verification passes through, flight control system is normal, otherwise, flight control
The system failure processed.
6. UAV Communication link failure detection device according to claim 1, it is characterised in that the detection ground leads to
Letter terminal whether failure, adopts with the following method：If feedback information, failure can not be received, if it is possible to receive feedback
Information, then the feedback information to receiving verify, if verification passes through, ground communication terminal is normal, and otherwise, ground leads to
Letter terminal failure.
7. UAV Communication link failure detection device according to claim 1, it is characterised in that also including parameter setting
Module, for arranging communication plan, the communications band of communication band and communication frequency, the parameter setting module respectively with data
Sending/receiving module, servo radar simulation module, airborne communication terminal analog module, flight control system analog module and ground
Communication terminal equipment analog module is connected.
8. a kind of UAV Communication link failure detection method, it is characterised in that using the nothing described in any one of claim 1-7
Man-machine communication link failure detection device, comprises the steps：
S1, by by the data is activation receiver module respectively with the servo radar and ground communication terminal data cube computation, will
The UAV Communication link failure detection device is accessed in the UAV Communication link；
S2, starts each equipment on UAV Communication link, arranges communication plan, the communications band for arranging communication band and communication
Frequency；
S3, the data is activation receiver module send to each equipment on UAV Communication link and start test packet, Mei Geyi
Fix time to online equipment to send and inquire broadcasting packet, and receive the reply message of each equipment, if not collecting reply message,
Then device fails；Otherwise, equipment is normal；
S4, the UAV Communication link failure detection device send heartbeat message to online equipment every some cycles, if
In certain period of time, the feedback information of equipment is not received, and repetition sends above-mentioned message several times, if still not receiving feedback
Information, then judge equipment fault, otherwise, it is determined that equipment is normal.
9. UAV Communication link failure detection method according to claim 8, it is characterised in that the heartbeat message is adopted
The SLIP agreements, concrete form is used to be：SLIP heads+unit identification id+message id+message-length+message content+message verification+
SLIP tails.
10. UAV Communication link failure detection method according to claim 8, it is characterised in that described not receive
The feedback information of equipment includes：Do not receive the communication information of equipment, and have received the communication information of equipment, but receive
Feedback information can not meet verification condition, verification failure.
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| CN106998270A (en) * | 2017-05-16 | 2017-08-01 | 北京京东尚科信息技术有限公司 | The communication system of UAV Communication system and unmanned plane server |
| US11429094B2 (en) | 2017-05-16 | 2022-08-30 | Beijing Jingdong Qianshi Technology Co., Ltd. | Drone communication system and communication system of drone server |
| WO2018210101A1 (en) * | 2017-05-16 | 2018-11-22 | 北京京东尚科信息技术有限公司 | Communication system for unmanned aerial vehicle and communication system for unmanned aerial vehicle server |
| CN109976297A (en) * | 2017-12-27 | 2019-07-05 | 西安远智电子科技有限公司 | A kind of detection method of lost-control protection, device and unmanned plane |
| CN109976297B (en) * | 2017-12-27 | 2021-11-09 | 西安远智电子科技有限公司 | Detection method and device for out-of-control protection and unmanned aerial vehicle |
| CN108693309A (en) * | 2018-04-12 | 2018-10-23 | 盐城工学院 | A kind of pollutant monitoring system, method and storage medium |
| CN110376875A (en) * | 2018-04-13 | 2019-10-25 | 沈阳中科博微科技股份有限公司 | A kind of hardware redundancy Implementation Technology for control system |
| WO2020142924A1 (en) * | 2019-01-09 | 2020-07-16 | 深圳市大疆创新科技有限公司 | Communication method for laser radar, laser radar, and host device |
| CN110071754A (en) * | 2019-04-13 | 2019-07-30 | 成都飞机工业（集团）有限责任公司 | UAV TTC channel outage emergency processing method |
| WO2021102730A1 (en) * | 2019-11-27 | 2021-06-03 | 深圳市大疆创新科技有限公司 | Movable platform control method, device, and storage medium |
| CN111313960A (en) * | 2020-02-20 | 2020-06-19 | 中国西安卫星测控中心 | Evaluation method for chain establishment execution effect of Beidou third-order inter-satellite link |
| CN111313960B (en) * | 2020-02-20 | 2021-08-03 | 中国西安卫星测控中心 | Evaluation method for chain establishment execution effect of Beidou third-order inter-satellite link |
| WO2021212344A1 (en) * | 2020-04-21 | 2021-10-28 | 深圳市大疆创新科技有限公司 | Fault management method and device for unmanned aerial vehicle, and storage medium |
| CN111555827A (en) * | 2020-05-06 | 2020-08-18 | 中国商用飞机有限责任公司 | Method and apparatus for detecting air-to-ground links |
| CN111555827B (en) * | 2020-05-06 | 2021-09-03 | 中国商用飞机有限责任公司 | Method and apparatus for detecting air-to-ground links |
| CN112046776A (en) * | 2020-09-07 | 2020-12-08 | 中国航空工业集团公司成都飞机设计研究所 | Ground comprehensive warning method for unmanned aerial vehicle |
| CN116203526A (en) * | 2023-05-04 | 2023-06-02 | 中联金冠信息技术(北京)有限公司 | Target recognition system and method for unmanned aerial vehicle |
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