CN107087441A - A kind of information processing method and its device - Google Patents

Abstract

The embodiment of the invention discloses a kind of information processing and its device, for the signal quality sample information by obtaining target area, and the signal quality of a position is determined using the signal quality sample information.Present invention method includes：When controlled plant enters target area, the signal quality value of each position in multiple positions in the target area is obtained, the first signal quality sample information is obtained；Data analysis is carried out according to the first signal quality sample information, the corresponding signal quality coefficient of default signal quality influence factor is obtained；The signal quality value of the target location is calculated according to the signal quality coefficient and the pinining ground location coordinates of target location, the target location is among the target area.

Description

A kind of information processing method and its device

Technical field

The present invention relates to the communications field, more particularly to a kind of information processing method and its device.

Background technology

Telecontrol engineering is the technology that far distance controlled and monitoring are carried out to controlled plant.It is to utilize automatic control technology, An integrated technology formed by the communication technology and computer technology, typically all refers to and remote controlled plant is controlled The technology of system.Telecontrol engineering has a wide range of applications in the production and living of people, is to utilize wireless remotecontrol such as " unmanned plane " The not manned aircraft that equipment and the presetting apparatus provided for oneself are manipulated.Nearly more than 40 years have been developed in domestic unmanned plane market, from Initial military domain gradually expands to consumer field.Current domestic consumption unmanned plane market is burning hot, and general public is to unmanned plane The degree of recognition and demand degree gradually rise.

At present, the remote signal of unmanned plane is limited in scope, although remote signal is monitored in real time, but can be occurred unavoidably Unexpected signal interruption, causes unmanned plane to be forced interruption operation or even make a return voyage automatically.In order to solve the problem, safety can be set and flown Row region.Specifically, can be by setting using fixing point as the center of circle, default flying radius does spheroid, with the scope in spheroid It is used as the flight range that signals security is stable, i.e. safe flight region.Remote signal can be reduced to a certain extent by doing so The probability of interruption.

If however, in a flight environment of vehicle that there is uneven complex barrier thing, due to the environment in the region because The influence of element, signal quality in the sphere is simultaneously not always good, and this method can not be learned accurately in a region Each position signal quality, if therefore unmanned plane enter the sphere in a signal bad position when, still It is easier to occur signal interruption.

The content of the invention

The embodiments of the invention provide a kind of information processing and its device, for the signal quality by obtaining target area Sample information, and determine using the signal quality sample information signal quality of a position.

In view of this, first aspect present invention provides a kind of information processing method, for including main control device and controlled The remote control system of equipment, it is characterised in that including：

When controlled plant enters target area, the signal of each position in multiple positions in the target area is obtained Mass value, obtains the first signal quality sample information；Data analysis is carried out according to the first signal quality sample information, obtains pre- If the corresponding signal quality coefficient of signal quality influence factor；According to the signal quality coefficient and the ground location of target location Coordinate calculates the signal quality value of the target location, and the target location is among the target area.

It is preferred that, the signal quality value includes signal to noise ratio snr value.

With reference to first aspect present invention, the first embodiment of first aspect present invention, including：

Obtain the transmission power and receiving power of each position in multiple positions in the target area；According to the mesh The transmission power and receiving power for marking each position in multiple positions in region are calculated, multiple positions in the target area The SNR value of the position of each in putting.

It is preferred that, the controlled plant includes unmanned plane, unmanned vehicle, unmanned boat, unmanned submarines or remote-controlled robot.

It is preferred that, the signal quality influence factor includes environmental factor, relative position factor and/or posture factor.

With reference to the first embodiment of first aspect present invention, when the signal quality influence factor is the environmental factor When, the first signal quality sample information is then that the controlled plant is being obtained under the influence of the environmental factor, then the letter Number quality coefficient is environmental factor coefficient, second of embodiment of the invention, including：

The signal quality of the target location is calculated according to the pinining ground location coordinates of the environmental factor coefficient and the target location Value.

With reference to the first embodiment of first aspect present invention, when the signal quality influence factor be the environmental factor and During the relative position factor, the first signal quality sample information is the controlled plant in the environmental factor and this is relative Obtained under the influence of positional factor, then the signal quality coefficient be environmental factor coefficient and relative position factor coefficient,

The third embodiment of first aspect present invention, including：

When the controlled plant enters specific region, the specific region is by the region of the such environmental effects, acquisition The signal quality value and relative position coordinates of each position, obtain secondary signal quality in multiple positions in the specific region Sample information, the relative position coordinates are position coordinates of the controlled plant relative to the main control device；According to the secondary signal Quality sample information carries out data analysis, obtains the relative position factor coefficient；Then this is according to the signal quality coefficient and target The signal quality value that the pinining ground location coordinates of position calculate the target location includes：According to the environmental factor coefficient, the relative position Put the ground position of coefficient, the pinining ground location coordinates of the target location, the pinining ground location coordinates of the main control device and the controlled plant Put the signal quality value that coordinate calculates the target location.

With reference to the first embodiment of first aspect present invention, when the signal quality influence factor be the environmental factor, The relative position factor and during the posture factor, the first signal quality sample information be the controlled plant in the environment because Obtained under the influence of element, the relative position factor and the posture factor, then the signal quality coefficient is environmental factor coefficient, phase To position factor coefficient and posture factor coefficient,

4th kind of embodiment of first aspect present invention, including：

When the controlled plant enters specific region, the specific region is by the region of the such environmental effects, acquisition The signal quality value of each position in multiple positions in the specific region, obtains secondary signal quality sample information；According to The first signal quality sample information carries out data analysis, obtains the relative position factor coefficient；When the controlled plant is fixed on When on one position, the signal quality value under each posture in multiple postures of the controlled plant is obtained, the 3rd signal is obtained Quality sample information；Data analysis is carried out according to the 3rd signal quality sample information, the posture factor coefficient is obtained；The then root The signal quality value for calculating the target location according to the pinining ground location coordinates of the signal quality coefficient and target location includes：According to this Environmental factor coefficient, the relative position coefficient, the posture factor coefficient, the pinining ground location coordinates of the target location, the master control are set Standby pinining ground location coordinates, the signal quality value of the Attitude Calculation of the controlled plant target location.

With reference to first aspect present invention, the 5th kind of embodiment of first aspect present invention, including：

Judge whether the signal quality value of the target location is higher than threshold value；If, it is determined that centered on the target location, Threshold length is to be used as signals security region in the spheroid of radius.

Second aspect of the present invention provides a kind of information processor, the remote control for including main control device and controlled plant System, it is characterised in that including：

First acquisition module, for when controlled plant enters target area, obtaining multiple positions in the target area In each position signal quality value, obtain the first signal quality sample information；

First processing module, for carrying out data analysis according to the first signal quality sample information, obtains default letter Number corresponding signal quality coefficient of influencing factors of quality；

Computing module, the letter of the target location is calculated according to the pinining ground location coordinates of the signal quality coefficient and target location Number mass value, the target location is among the target area.

With reference to second aspect of the present invention, when the signal quality value includes signal to noise ratio snr value, the of first aspect present invention A kind of embodiment, including：

First acquisition submodule, the transmission power for obtaining each position in multiple positions in the target area And receiving power；

Calculating sub module, for each position in multiple positions in the target area transmission power and connect Receive the SNR value of each position in multiple positions in power calculation, the target area.

With reference to the first embodiment of second aspect of the present invention, second aspect, when the signal quality influence factor is to be somebody's turn to do During environmental factor, the first signal quality sample information is that the controlled plant is being obtained under the influence of the environmental factor, Then the signal quality coefficient be environmental factor coefficient, second of embodiment of second aspect of the present invention, including：

First calculating sub module, should for being calculated according to the pinining ground location coordinates of the environmental factor coefficient and the target location The signal quality value of target location.

With reference to the first embodiment of second aspect of the present invention, second aspect, when the signal quality influence factor is to be somebody's turn to do When environmental factor and the relative position factor, the first signal quality sample information is the controlled plant in the environmental factor And obtained under the influence of the relative position factor, then the signal quality coefficient is environmental factor coefficient and relative position factor Coefficient, the third embodiment of second aspect of the present invention, including：

Second acquisition module, for when the controlled plant enter specific region when, the specific region for not by the environment because The region of element influence, obtains the signal quality value of each position and relative position in multiple positions in the specific region and sits Mark, obtains secondary signal quality sample information, and the relative position coordinates are position of the controlled plant relative to the main control device Coordinate；

Second processing module, for carrying out data analysis according to the first signal quality sample information, obtains this with respect to position Put factor coefficient；

Then the computing module includes：

Second calculating sub module, for according to the environmental factor coefficient, the relative position coefficient, the target location ground The pinining ground location coordinates of position coordinates, the pinining ground location coordinates of the main control device and the controlled plant calculate the letter of the target location Number mass value.

With reference to the first embodiment of second aspect of the present invention, second aspect, when the signal quality influence factor is to be somebody's turn to do When environmental factor, the relative position factor and the posture factor, the first signal quality sample information is the controlled plant at place Obtained under the influence of the environmental factor, the relative position factor and the posture factor, then the signal quality coefficient is environment Factor coefficient, relative position factor coefficient and posture factor coefficient, the 4th kind of embodiment of second aspect of the present invention, including：

Second acquisition module, for when the controlled plant enter specific region when, the specific region for not by the environment because The region of element influence, obtains the signal quality value of each position in multiple positions in the specific region, obtains secondary signal Quality sample information；Second processing module, for carrying out data analysis according to the first signal quality sample information, obtains the phase To position factor coefficient；3rd acquisition module, for when the controlled plant is fixed on a position, obtaining the controlled plant Multiple postures in signal quality value under each posture, obtain the 3rd signal quality sample information；3rd processing module, is used In carrying out data analysis according to the 3rd signal quality sample information, the posture factor coefficient is obtained；

Then the computing module includes：

3rd calculating sub module, for according to the environmental factor coefficient, the relative position coefficient, the posture factor coefficient, The pinining ground location coordinates of the target location, the pinining ground location coordinates of the main control device, the Attitude Calculation of the controlled plant target The signal quality value of position.

With reference to second aspect of the present invention, the 5th kind of embodiment of second aspect of the present invention, including：

Judge module, for judging whether the signal quality value of the target location is higher than threshold value；Determining module, if for being somebody's turn to do Judge module is judged as YES, it is determined that centered on the target location, and threshold length is to be used as signals security in the spheroid of radius Region.

Third aspect present invention additionally provides a kind of information processor, for distant including main control device and controlled plant Control system, it is characterised in that including：

Transceiver, memory, processor and bus；The transceiver, the memory and the processor are connected by bus Connect；The transceiver is used to, when controlled plant enters target area, obtain each position in multiple positions in the target area The signal quality value put, obtains the first signal quality sample information；The memory is for being somebody's turn to do that storage program, the transceiver are obtained First signal quality sample information of target area；The processor is used to carry out data according to the first signal quality sample information Analysis, obtains the corresponding signal quality coefficient of default signal quality influence factor；The processor is additionally operable to according to the signal matter Coefficient of discharge and the pinining ground location coordinates of target location calculate the signal quality value of the target location, and the target location is in the target Among region.

As can be seen from the above technical solutions, the embodiment of the present invention has advantages below：

Due to when controlled plant enters target area, the signal quality sample information of target area being obtained, according to the letter Number quality sample information carries out data analysis, obtains the corresponding signal quality coefficient of default signal quality influence factor, according to The signal quality coefficient and the position coordinates of the target location in target area calculate the signal quality value of the target location, therefore When controlled plant prepares some position activity that will be in the target area, the position and the multiple positions of surrounding can be precalculated The signal quality value put, prediction is prepared to enter into the position and whether neighbouring signal sufficiently stable good, if the position and Neighbouring signal is sufficiently stable good, then can select to enter, if be not sufficiently stable well, select not enter, so as to significantly subtract The probability of few signal interruption.

Brief description of the drawings

Fig. 1 is the schematic diagram of remote control equipment system in the embodiment of the present invention；

Fig. 2 is one embodiment schematic diagram of information processing method in the embodiment of the present invention；

Fig. 3 is another embodiment schematic diagram of information processing method in the embodiment of the present invention；

Fig. 4 is another embodiment schematic diagram of information processing method in the embodiment of the present invention；

Fig. 5 is another embodiment schematic diagram of information processing method in the embodiment of the present invention；

Fig. 6 is another embodiment schematic diagram of information processing method in the embodiment of the present invention；

Fig. 7 is another embodiment schematic diagram of information processing method in the embodiment of the present invention；

Fig. 8 is one embodiment schematic diagram of information processor in the embodiment of the present invention；

Fig. 9 is another embodiment schematic diagram of information processor in the embodiment of the present invention；

Figure 10 is another embodiment schematic diagram of information processor in the embodiment of the present invention；

Figure 11 is another embodiment schematic diagram of information processor in the embodiment of the present invention；

Figure 12 is another embodiment schematic diagram of information processor in the embodiment of the present invention；

Figure 13 is another embodiment schematic diagram of information processor in the embodiment of the present invention；

Figure 14 is one embodiment schematic diagram of information processor in the embodiment of the present invention.

Embodiment

The embodiments of the invention provide a kind of information processing and its device, for the signal quality by obtaining target area Sample information, and determine using the signal quality sample information signal quality of a position.

In order that those skilled in the art more fully understand scheme of the embodiment of the present invention, below in conjunction with present invention implementation Accompanying drawing in example, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment The only embodiment of a present invention part, rather than whole embodiments.Based on the embodiment in the present invention, this area is common The every other embodiment that technical staff is obtained under the premise of creative work is not made, should all belong to protection of the present invention Scope.

Term " first ", " second ", " the 3rd " in description and claims of this specification and above-mentioned accompanying drawing, " The (if present)s such as four " are for distinguishing similar object, without for describing specific order or precedence.It should manage The data that solution is so used can be exchanged in the appropriate case, so that the embodiments described herein can be with except illustrating herein Or the order beyond the content of description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that Covering is non-exclusive to be included, for example, containing process, method, system, product or the equipment of series of steps or unit need not limit In those steps or unit for clearly listing, but may include not list clearly or for these processes, method, production Product or the intrinsic other steps of equipment or unit.

Remote control equipment system, including main control device and controlled device, mainly use telecontrol engineering at main control device end pair The system that controlled plant carries out far distance controlled and monitoring.Telecontrol engineering is to utilize automatic control technology, the communication technology and calculating An integrated technology formed by machine technology, typically all refers to the technology being controlled to remote controlled plant.Remote control Technology has a wide range of applications in the production and living of people, is to utilize wherein comparing burning hot " unmanned plane of taking photo by plane " in recent years Radio robot and the presetting apparatus provided for oneself manipulate for the not manned aircraft taken pictures.Domestic unmanned plane market is Nearly more than 40 years are developed, consumer field are gradually expanded to from initial military domain.Current domestic consumption unmanned plane market fire Heat, general public gradually rises to the degree of recognition and demand degree of unmanned plane.

However, for remote control equipment system, due to being limited in scope for remote signal, although monitor remote signal in real time, but Still unexpected signal interruption can occur unavoidably, cause unmanned plane to be forced interruption operation or even make a return voyage automatically.In order to solve the problem, Safe flight region can be set.Specifically, can be by setting using fixing point as the center of circle, the fixing point is generally master control and set Standby, default flying radius does spheroid, stable flight range, i.e. Flight Safety Region using the scope in spheroid as signals security Domain.

But, in the environment of reality, be usually present many uneven complex barrier things, receive environment in region because The influence of element, if still determining safe flight region according to original mode, the signal of the diverse location in the sphere It is uneven, the position of some poor signals can be caused to be treated as the good position of signal, can if spheroid is narrowed too small Waste the good position of many signals.

Therefore, core concept of the invention is, due to when controlled plant enters target area, obtaining the letter of target area Number quality sample information, carries out data analysis according to the signal quality sample information, obtains default signal quality influence factor Corresponding signal quality coefficient, the position coordinates of the target location in the signal quality coefficient and target area calculates the mesh The signal quality value of cursor position, therefore when controlled plant prepares some position activity that will be in the target area, can be advance The signal quality value of the position and the multiple positions of surrounding is calculated, prediction is prepared to enter into the position and whether neighbouring signal is sufficient It is enough moderately good, if the position and neighbouring signal are sufficiently stable good, it can select to enter, if be not sufficiently stable well, Then select not enter, so as to greatly reduce the probability of signal interruption.

Fig. 1 is refer to, is the remote control equipment system in the embodiment of the present invention.

Remote control equipment system, including main control device and controlled plant, wherein, main control device carries out remote to controlled plant Control and monitoring.In the remote control equipment system, control of the main control device to controlled plant, be make use of automatic control technology, The communication technology and computer technology, it has weight in terms of each department of national economy, particularly Aero-Space and missile nuclear weapon Apply.

In general, controlled plant can be fixed, such as Automated water power station；Can also be movable, as nobody drives Sail aircraft, artificial satellite, ballistic missile etc..And the controlled plant in the remote control equipment system mentioned in the embodiment of the present invention, Refer to the controlled plant of activity.

Remote control equipment system typically all has monitoring function, actually one telemetering and remote control system.The remote control of broad sense Including guidance.Usually said remote control is command remote control, i.e., by control end by side of the control instruction by wired or wireless transmission Formula is sent to controll plant, controll plant is acted by the requirement of control end.Signal transmission technology is a key technology of remote control.

Wireless remote control uses radio wave or beam transmission, is mainly used in the controll plant of activity.Remote control is frequently with more Road transmission means.Multiplexing can use time-division, frequency division and code division.Time-division remote control is by the different control of regular hour sequential delivery Signal processed.Frequency division remote control is, with the different control signal of the frequency band simultaneous transmission of non-overlapping copies, to reach controlled end and filtered again with band logical Ripple device is separated them.Code division remote control is to distinguish path using different codings.Remote signal can use analog signal or numeral Signal.Analog telecommand is also transformed into analog control signal the form for being suitable for transmission, but equipment is simple, and cost is low, Available for less demanding occasion.Digital remote control can utilize Digital Signal Processing, and accuracy is good, and reliability is high.It is distant The main development direction of control.

It should be noted that in embodiments of the present invention signified controlled plant can include unmanned plane, unmanned vehicle, nobody Ship, unmanned submarines or remote-controlled robot.

Unmanned plane is also known as UAV, and english abbreviation is " UAV ", using radio robot and provides for oneself The not manned aircraft that presetting apparatus is manipulated.It can be divided into from technical standpoint definition：Unmanned fixed-wing aircraft, unmanned VTOL Machine, unmanned airship, depopulated helicopter, unmanned multi-rotor aerocraft, unmanned parasol etc..Unmanned plane presses application field, can be divided into It is military with it is civilian.Military aspect, unmanned plane is divided into reconnaissance plane and target drone.Civilian aspect, unmanned plane+sector application is unmanned plane Really just need；At present taking photo by plane, agricultural, plant protection, auto heterodyne, express transportation, disaster relief, observation wild animal, monitoring infection The application in disease, mapping, news report, electric inspection process, the disaster relief, movies-making, manufacture romance etc. field, has greatly expanded nothing The man-machine purposes of itself, developed country is also in actively extension sector application and development unmanned air vehicle technique.

Pilotless automobile is a kind of intelligent automobile, can also be referred to as wheeled mobile robot, relies primarily on in-car Intelligent driving instrument based on computer system is unmanned to realize.Pilotless automobile is perceived by vehicle-mounted sensor-based system Road environment, automatic planning travelling line and the intelligent automobile for controlling vehicle arrival predeterminated target.

It is that vehicle-periphery is perceived using onboard sensor, and according to the obtained road of perception, vehicle location And obstacle information, steering and the speed of vehicle are controlled, so as to enable the vehicle to reliably and securely travel on road.Collection is certainly Numerous technologies such as dynamic control, architecture, artificial intelligence, vision calculating, in one, are computer science, pattern-recognition and intelligence The product of control technology high development, is also an important symbol for weighing national a research strength and industrial level, in state Anti- and national economy field has broad application prospects.

Also unmanned boat, unmanned submarines or remote-controlled robot, are not repeated one by one herein.Below unless otherwise instructed, with Under remote control equipment system illustrated by taking remotely pilotless machine system as an example.

Remotely pilotless machine system includes unmanned plane and main control device, wherein, main control device can be remote control, be a kind of use Carry out the remote device for controlling machinery.Modern remote control, mainly by integrated circuit electroplax and for producing different messages (in dissemination Message definition：The meaningful symbol that is mutually related by one group is constituted, and can express the information of certain complete meaning.) button Constituted.

Fig. 1 is a kind of schematic diagram of loose impediment 100 provided in an embodiment of the present invention.The loose impediment 100 includes Supporting body 102 and load 104.Although loose impediment 100 is described as aircraft, but such description is not limitation, Any kind of loose impediment is all suitable for.It will be understood by a person skilled in the art that described herein any on aircraft The embodiment of system is applied to any loose impediment (such as unmanned vehicle).In certain embodiments, load 104 can be direct In loose impediment 100, without supporting body 102.Loose impediment 100 can include actuating unit 106, sensing system System 108 and communication system 110.

Actuating unit 106 can include one or more rotary body, propeller, blade, engine, motor, wheel, axle Hold, magnet, nozzle.For example, the rotary body of the actuating unit can be Self-fastening (self-tightening) rotary body, rotation Body component or other rotary body power units.Loose impediment can have one or more actuating units.All power Mechanism can be identical type.Optionally, one or more actuating unit can be different types.Actuating unit 106 It can be arranged on by suitable means in loose impediment, such as pass through support component (such as drive shaft).Actuating unit 106 can be with Installed in any suitable position of loose impediment 100, such as top, lower end, front end, rear end, side or any knot therein Close.

In certain embodiments, actuating unit 106 can make loose impediment vertically be taken off from surface, or vertically Landing on the surface, (need not such as be slided) without any horizontal movement of loose impediment 100 on runway.Optionally, Actuating unit 106 can allow loose impediment 100, and predeterminated position and/or direction are spiraled in the air.One or more power Mechanism 106 can be independently of other actuating units when being controlled.Optionally, one or more actuating unit 106 can To be controlled simultaneously.For example, loose impediment 100 can have the rotary body of multiple horizontal directions, to follow the trail of the lifting of target And/or promote.The rotary body of horizontal direction, which can be activated, to be taken off vertically with providing loose impediment 100, vertical landing, spiraled Ability.In certain embodiments, in the rotary body of horizontal direction one or more can be rotated clockwise, and water Square to rotary body in other one or more can rotate in a counter-clockwise direction.For example, the rotary body turned clockwise As the quantity of the rotary body of rotate counterclockwise.The speed of rotation of the rotary body of each horizontal direction can independently change, To realize lifting and/or promotion operation caused by each rotary body, so as to adjust the dimensional orientation of loose impediment 100, speed And/or acceleration (such as relative to the rotation and translation of up to three degree of freedom).

Sensor-based system 108 can include one or more sensor, with sense loose impediment 100 dimensional orientation, Speed and/or acceleration (such as relative to the rotation and translation of up to three degree of freedom).One or more sensor includes Any sensor described above, including GPS sensor, motion sensor, inertial sensor, proximity sensor or image are passed Sensor.The sensing data that sensor-based system 108 is provided can be used for dimensional orientation, speed and/or the acceleration for following the trail of target 100 (being somebody's turn to do as follows, utilize suitable processing unit and/or control unit).Optionally, sensor-based system 108 can be used for gathering removable The data of the environment of object, such as weather conditions, the potential obstacle to be approached, the position of geographical feature, the position of man-made structures Deng.

Communication system 110 can be realized to be communicated with the terminal 112 with communication system 114 by wireless signal 116. Communication system 110,114 can include any amount of transmitter, receiver and/or transceiver for wireless telecommunications.This leads to News can be one-way communication, and such data can be sent from a direction.For example, one-way communication can include, only it may move Object 100 transfers data to terminal 112, and or vice versa.One or more transmitter of communication system 110 can be sent One or more receiver of data to communication system 112, vice versa.Optionally, the communication can be both-way communication, this Sample, data can be between loose impediment 100 and terminal 112 in both direction transmission.Both-way communication includes communication system 110 One or more transmitter can send data to one or more receiver of communication system 114, and vice versa.

In certain embodiments, terminal 112 can be to one in loose impediment 100, supporting body 102 and load 104 Or multiple offer control datas, and from loose impediment 100, supporting body 102 and load 104 in one or more in (position and/or movable information of such as loose impediment, supporting body or load load the data of sensing, such as camera to receive information The image data of capture).In certain embodiments, the control data of terminal can be included on position, motion, the finger activated Order, or the control to loose impediment, supporting body and/or load.For example, control data can cause movable object position And/or the change (such as by controlling actuating unit 106) in direction, or cause supporting body relative to the motion of loose impediment (such as by the control to supporting body 102).The control data of terminal can cause to load control, such as control camera or other shadows The operation of picture capture device (captures static or motion image, zoom, is turned on and off, switches imaging pattern, change image Resolution ratio, change focal length, the change depth of field, change time for exposure, change visible angle or visual field).In certain embodiments, may be used Mobile object, supporting body and/or the communication of load can include one or more sensor (such as sensor-based system 108 or negative Carry the information 104) sent.The communication can be included from one or more different types of sensor (such as GPS sensor, fortune Dynamic sensor, inertial sensor, proximity sensor or image sensor) transmission induction information.The induction information be on Position (such as direction, position), motion or the acceleration of loose impediment, supporting body and/or load.From the sense of load transmission Information is answered to include the data of load capture or the state of load.The control data that the transmission of terminal 112 is provided can be used for following the trail of One or more state in loose impediment 100, supporting body 102 or load 104.Optionally or simultaneously, carry Body 102 and load 104 can each include communication module, for being communicated with terminal 112, so that terminal can individually lead to News follow the trail of loose impediment 100, supporting body 102 and load 104.

In certain embodiments, loose impediment 100 can be communicated with other remote equipments in addition to terminal 112, Terminal 112 can also be communicated with other remote equipments in addition to loose impediment 100.For example, loose impediment and/or Terminal 112 can be communicated with the supporting body or load of another loose impediment or another loose impediment.When in need When, the other remote equipment can be second terminal or other computing devices (such as computer, desktop computer, flat Plate computer, smart mobile phone or other mobile devices).The remote equipment can transmit data to loose impediment 100, from can Mobile object 100 receives data, transfers data to terminal 112, and/or receive data from terminal 112.Optionally, this remotely sets It is standby to may be coupled to internet or other communication networks, so that the data received from loose impediment 100 and/or terminal 112 Upload on website or server.

In certain embodiments, the motion of loose impediment, the motion of supporting body and load are relatively fixed object of reference (as outside Portion's environment) motion, and/or the motion of person to each other can be controlled by terminal.The terminal can be that remote control is whole End, is located remotely from the place of loose impediment, supporting body and/or load.Terminal can be located at or be pasted in support platform. Optionally, the terminal can be hand-held or Wearable.For example, the terminal can include smart mobile phone, tablet personal computer, table Laptop, computer, glasses, gloves, the helmet, microphone or any of which are combined.The terminal can include user circle Face, such as keyboard, mouse, control stick, touch-screen or display.Any suitable user's input can be with terminal interaction, such as hand Dynamic input instruction, sound control, gesture control or position control are (such as by the motion of terminal, position or inclination).

It should be noted that the main control device mentioned by the embodiment of the present invention, can include remote control equipment terminal, can also Including mobile phone.

, wherein it is desired to special instruction, the present embodiments relate to terminal device, can refer to provide a user language The equipment of sound and/or data connectivity, portable equipment with wireless connecting function or is connected to radio modem Other processing equipments.Wireless terminal can be through wireless access network (RAN Radio Access Network) and one or more cores Heart net is communicated, and wireless terminal can be mobile terminal, such as mobile phone (or for " honeycomb " phone) and with it is mobile eventually The computer at end, for example, it may be portable, pocket, hand-held, built-in computer or vehicle-mounted mobile device, it Language and/or data are exchanged with wireless access network.For example, PCS (PCS, Personal Communication Service) phone, wireless phone, Session initiation Protocol (SIP) phone, WLL (WLL, Wireless Local Loop) stand, the equipment such as personal digital assistant (PDA, Personal Digital Assistant).Wireless terminal is referred to as System, subscri er unit (Subscriber Unit), subscriber station (Subscriber Station), movement station (Mobile Station), mobile station (Mobile), distant station (Remote Station), access point (Access Point), remote terminal (Remote Terminal), access terminal (Access Terminal), user terminal (User Terminal), terminal device, User agent (User Agent), user equipment (User Device) or subscriber's installation (User Equipment).

In some feasible embodiments, mobile phone includes：It is radio frequency (Radio Frequency, RF) circuit, memory, defeated Enter unit, display unit, sensor, voicefrequency circuit, Wireless Fidelity (wireless fidelity, WiFi) module, processor, And the part such as power supply.It will be understood by those skilled in the art that handset structure does not constitute the restriction to mobile phone, can include than More or less parts are illustrated, some parts or different parts arrangement is either combined.

It should be noted that the main control device in the embodiment of the present invention can also be server.

The server can be produced than larger difference because of configuration or performance difference, can be included in one or more Central processor (central processing units, CPU) (for example, one or more processors) and memory, one Individual or more than one storage application program or data storage mediums (such as one or more mass memory units).Its In, memory and storage medium can be of short duration storage or persistently storage.Can be included by being stored in the program of storage medium by one Or more than one module (diagram is not marked), each module can be including operating to the series of instructions in server.More enter one Step ground, central processing unit be could be arranged to communicate with storage medium, and the series of instructions in storage medium is performed on the server Operation.

Server can also include one or more power supplys, one or more wired or wireless network interfaces, One or more input/output interfaces, and/or, one or more operating systems, such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM etc..

For ease of understanding, the idiographic flow in the embodiment of the present application is described below, referring to Fig. 2, the application is real Apply a kind of one embodiment of information processing method in example, the remote control system for including main control device and controlled plant, including：

201st, when controlled plant enters target area, each position in multiple positions in the target area is obtained Signal quality value, obtains the first signal quality sample information.

In some feasible embodiments, target area can include island, city, forest, village, on sea, campus It is interior, it is not construed as limiting herein, when controlled plant is small scale robot, target area can also include in apartment room, indoor basketball Field, meeting room etc., as long as region that is that default controlled plant is prepared to enter into or coming into, can serve as target Region, is not construed as limiting herein.

In some feasible embodiments, the first signal quality sample information can be the signal quality value of the position reached Corresponding relation set.The signal quality value of 4 positions is such as obtained, is position A, B, C and D respectively, corresponding signal matter Value is a, b, c and d, then it is considered that element in the first signal quality sample information for (A, a), (B, b), (C, c), (D, d)。

In some feasible embodiments, controlled plant can arbitrarily fly on one side, while collecting signal quality value, also may be used With fixed position flight in advance in region, uniformly by the position in region, it is collected into more by such mode Uniform signal quality value, in order to follow-up calculating.

It should be noted that the position of the signal quality value obtained, can use the position coordinates of earth's surface inertial coodinate system To represent, i.e., when obtaining I position, (Xi, Yi, Zi) is used to represent.Specifically, the position coordinates of I points can be by defending Star positions to determine.

It should be noted that the signal quality value can be signal to noise ratio snr value.

Signal to noise ratio, English name is called SNR or S/N (SIGNAL-NOISE RATIO), also known as signal to noise ratio.Refer to one The ratio of signal and noise in electronic equipment or electronic system.Here signal refers to needing to pass through from device external The electronic signal that this equipment is handled, noise refers to by the original signal produced after the equipment and non-existent random Extra (or information), and this kind of signal do not change with the change of original signal.

Equally it is that " original signal is not present " also has a kind of thing actually to have certain relation " distortion ", distortion and noise, The two is not both that distortion is regular, and noise is then irregular, and this retells later.

202nd, data analysis is carried out according to the first signal quality sample information, obtains default signal quality influence factor Corresponding signal quality coefficient.

In some feasible embodiments, when controlled plant have collected in the target area enough signal quality values and Corresponding position so that when the first signal quality sample information is enriched enough, then can be to this progress data analysis.At other In feasible embodiment, the first signal quality sample information collected before can also be used, rather than necessarily need to use this Secondary collection, it is not construed as limiting herein.

In a uneven environment, the factor such as barrier in its signal quality and environment has relation, then is referred to as Environmental factor.It is preferred that, when the signal quality influence factor is the environmental factor, the first signal quality sample information is then The controlled plant under the influence of the environmental factor what is obtained, then the signal quality coefficient is environmental factor coefficient.

In some feasible embodiments, if thinking, the signal quality value of a position and Multiple factors have relation, can So that each factor is carried out into each independent numerical value for considering, obtaining each factor correlation, then respective numerical value is calculated.

In embodiments of the present invention, environmental factor is a very important factor, however, in some feasible embodiments In, environmental factor is not limited to, posture factor and relative position factor can also be included.The signal quality influence factor includes environment Factor, relative position factor and/or posture factor.

203rd, the signal matter of the target location is calculated according to the pinining ground location coordinates of the signal quality coefficient and target location Value, the target location is among the target area.

In some feasible embodiments, after signal quality coefficient is obtained, the signal quality coefficient can include environment Factor coefficient, relative position factor coefficient and/or posture factor coefficient can also be included simultaneously, then can be used for estimating target area The signal quality at any point in domain.

Fig. 3 is refer to, in another embodiment of the invention, including：

301st, the transmission power and receiving power of each position in multiple positions in the target area are obtained.

The measurement unit of signal to noise ratio is dB, its computational methods be 10lg (PS/PN), wherein Ps and Pn difference representation signal and The effective power of noise, can also be converted into the ratio of voltage magnitude：20Lg (VS/VN), Vs and Vn distinguish representation signal With " virtual value " of noise voltage.In audio-frequency amplifier, it is intended that be the amplifier in addition to amplified signal, should not Add any other extra thing.Therefore, signal to noise ratio should the higher the better.

Refer to the power and the ratio of the noise power of output simultaneously of the output signal of amplifier for narrow sense, usually with decibel Number represents that the signal to noise ratio of equipment is higher, and the noise for showing that it is produced is fewer.In general, signal to noise ratio is bigger, illustrates to be mixed in signal In noise it is smaller, the sound quality of acoustic playback is higher, otherwise conversely.Signal to noise ratio typically should not be below 70dB, high-fidelity sound The signal to noise ratio of case should reach more than 110dB.

302nd, the transmission power of each position in multiple positions in the target area and receiving power are calculated, The SNR value of each position in multiple positions in the target area.

In some feasible embodiments, can then it make during flight in position collection PS and Pn instantly SNR=PS/Pn is obtained, SNR is obtained to calculate.

303rd, data analysis is carried out according to the first signal quality sample information, obtains default signal quality influence factor Corresponding signal quality coefficient.

304th, the signal matter of the target location is calculated according to the pinining ground location coordinates of the signal quality coefficient and target location Value, the target location is among the target area.

It refer to step 203.

Step 303 and step 304 are identical with the step 202 and step 203 of above-described embodiment in the present embodiment, do not go to live in the household of one's in-laws on getting married herein State.

Fig. 4 is refer to, when the signal quality influence factor is the environmental factor, the first signal quality sample information is then It is that the controlled plant is being obtained under the influence of the environmental factor, then the signal quality coefficient is environmental factor coefficient, Another embodiment of the invention, including：Including：

401st, when controlled plant enters target area, each position in multiple positions in the target area is obtained Signal quality value, obtains the first signal quality sample information.

402nd, data analysis is carried out according to the first signal quality sample information, obtains default signal quality influence factor Corresponding signal quality coefficient.

403rd, the signal of the target location is calculated according to the pinining ground location coordinates of the environmental factor coefficient and the target location Mass value.

In some feasible embodiments, when signal quality influence factor is environmental factor, its environmental factor coefficient can It is A=[a1, a2 ... ..., a10] T to think a fitting coefficient, when the position based on earth's surface inertial coodinate system for obtaining point I is sat Mark (xi, yi, zi), high order fitting coefficient can be turned to, by taking second order as an example, be [1, xi, yi, zi, xi2, yi2, zi2, Xiyi, yizi, xizi], (i is 1,2 ... ..., 10) then cause SNRi=[1, xi, yi, zi, xi2, yi2, zi2, xiyi, Yizi, xizi] [a1, a2 ... ..., a10] T, then it can calculate and obtain SNRi.

When needing digital simulation coefficient [a1, a2 ... ..., a10] T, it can obtain in the first signal quality sample information Controlled plant each earth's surface inertial coodinate system under position coordinates (xi, yi, zi), obtain following matrix：

So that：

Least square method digital simulation coefficient [a1, a2 ... ..., a10] T is reused, then obtains environmental factor coefficient, is Signal quality influence factor.

Step 401 and step 402 are identical with the step 201 and step 202 of above-described embodiment in the present embodiment, do not go to live in the household of one's in-laws on getting married herein State.

Fig. 5 is refer to, when the signal quality influence factor is the environmental factor and the relative position factor, first letter Number quality sample information is that the controlled plant is being obtained under the influence of the environmental factor and the relative position factor, then The signal quality coefficient is environmental factor coefficient and relative position factor coefficient, in another embodiment of the invention, including：

501st, when controlled plant enters target area, each position in multiple positions in the target area is obtained Signal quality value, obtains the first signal quality sample information.

502nd, data analysis is carried out according to the first signal quality sample information, obtains default signal quality influence factor Corresponding signal quality coefficient.

503rd, when the controlled plant enters specific region, the specific region is region not by the such environmental effects, The signal quality value and relative position coordinates of each position in multiple positions in the specific region are obtained, secondary signal is obtained Quality sample information, the relative position coordinates are position coordinates of the controlled plant relative to the main control device.

, can be by fixed environment factor, i.e., under spacious identical environment, strictly according to the facts in some feasible embodiments The position coordinates for carrying out the SNR value for obtaining multiple positions and corresponding relative position is tested in the playground of room or spaciousness, with This calculates relative position factor coefficient.

Specifically, in some feasible embodiments, if relative position factor coefficient be a fitting coefficient [b1, B2 ... ..., b10] T, when the position coordinates (xi, yi, zi) based on earth's surface inertial coodinate system for obtaining point A, it can be turned to High order fitting coefficient, by taking second order as an example, is [1, xi, yi, zi, xi2, yb2, zi2, xiyi, yizi, xizi], then causes SNRb =[1, xi, yi, zi, xi2, yb2, zi2, xiyi, yizi, xizi] [b1, b2 ... ..., b10] T, then can calculate and obtain SNRi, (i is 1,2 ... ..., 10).

504th, data analysis is carried out according to the secondary signal quality sample information, obtains the relative position factor coefficient.

When it is B=[b1, b2 ... ..., b10] T to need digital simulation coefficient, the first signal quality sampling letter can be obtained The position coordinates (xi, yi, zi) of each relative position of the controlled plant in breath, obtains following matrix：

So that：

Least square method digital simulation coefficient [b1, b2 ... ..., b10] T is reused, then obtains relative position factor coefficient. That is A and B can be used as the environmental factor coefficient.

The then signal matter that the target location is calculated according to the pinining ground location coordinates of the signal quality coefficient and target location Value includes：

505th, according to the environmental factor coefficient, the relative position coefficient, the pinining ground location coordinates of the target location, the master control The pinining ground location coordinates of equipment and the pinining ground location coordinates of the controlled plant calculate the signal quality value of the target location.

It refer to 203.

Step 501 and step 502 are identical with the step 201 and step 202 of above-described embodiment in the present embodiment, do not go to live in the household of one's in-laws on getting married herein State.

Fig. 6 is refer to, when the signal quality influence factor is the environmental factor, the relative position factor and the posture factor When, the first signal quality sample information is the controlled plant in the environmental factor, the relative position factor and the posture Obtained under the influence of factor, then the signal quality coefficient is environmental factor coefficient, relative position factor coefficient and posture factor Coefficient, in another embodiment of the invention, including：

601st, when controlled plant enters target area, each position in multiple positions in the target area is obtained Signal quality value, obtains the first signal quality sample information.

602nd, data analysis is carried out according to the first signal quality sample information, obtains default signal quality influence factor Corresponding signal quality coefficient.

603rd, when the controlled plant enters specific region, the specific region is region not by the such environmental effects, The signal quality value of each position in multiple positions in the specific region is obtained, secondary signal quality sample information is obtained.

It refer to step 503.

604th, data analysis is carried out according to the first signal quality sample information, obtains the relative position factor coefficient.

It refer to step 504.

605th, when the controlled plant is fixed on a position, each appearance in multiple postures of the controlled plant is obtained Signal quality value under state, obtains the 3rd signal quality sample information.

606th, data analysis is carried out according to the 3rd signal quality sample information, obtains the posture factor coefficient.

Its signal quality of the aspect effect for the antenna that so-called posture factor, i.e. controlled plant are carried, however, in some fields Under scape, if controlled plant has the same antenna in each direction, or the influence of its posture factor is very small, then can ignore Posture factor.So-called relative position factor, i.e. controlled plant are caused relative to the relative position of main control device to signal quality Influence.Under some scenes, if target area is from main control device farther out, generally speaking, each position in the target area Relative position for main control device is all similar, then can ignore relative position factor.It should be noted that can also have it He has an impact factor to signal quality, does not repeat one by one herein.

It should be noted that in some feasible embodiments, when thinking that relative position factor and posture factor have an impact When, its relative position factor coefficient and posture factor coefficient can be calculated.In some feasible embodiments, relative position factor Coefficient and posture factor coefficient can be obtained by being tested in other regions or laboratory, be made in the target area With, and environmental factor coefficient then needs to obtain data in target area again and calculate to obtain.

In some feasible embodiments, relative position factor is the relative position between main control device and controlled plant Influence to the signal quality of target location, its relative position is the coordinate system set up using main control device as the origin of coordinates, Referred to as remote control body coordinate system.The direction of its x-axis, y-axis and z-axis, the direction that can be respectively x-axis is east, and y-axis is just It is the north to direction, the direction of z-axis is perpendicular to the surface of horizontal plane, it is possibility to have other determination x-axis, y-axis and z-axis Direction method, be not construed as limiting herein.With the x-axis, under the coordinate system that y-axis and z-axis and origin are set up, controlled plant Position coordinates is related to the relative position coordinates as relative position coordinates, i.e. relative position factor.

It is appreciated that if relative position factor is related to the relative position coordinates, posture or institute with controlled plant The environment at place is unrelated, then the relative position factor can be calculated a spacious position and obtained, can also be by laboratory It is middle to obtain.

Similar in some feasible embodiments, posture factor is posture pair of the controlled plant relative to main control device The influence of signal quality, and the determination of the posture of controlled plant is determined using Eulerian angles.Eulerian angles are fixed for uniquely determining Point rotates the triplets independence angle parameter of phaneroplasm position, is made up of nutational angle θ, angle of precession ψ and angle of rotation φ, is that L. Eulers are first First propose, therefore gain the name.

Specifically, making fixed coordinate system O-xyz (body coordinate system of main control device) by fixed point O and being fixed on rigid body Coordinate system O-x'y'z'(controlled plants body coordinate system) determine.Using axle Oz and Oz' as basic axle, its vertical plane Oxy and Ox'y' is that substantially planar is referred to as nutational angle by the angle, θ of axle Oz amounts to Oz'.Plane zOz' vertical line ON is referred to as nodel line, and it is again It is substantially planar Ox'y' and Oxy intersection.In right-handed coordinate system, seen by ON anode, angle θ should be measured counterclockwise. It is referred to as angle of precession to nodel line ON angle ψ by fixing axle Ox amounts, is referred to as angle of rotation to moving axis Ox' angle φ by nodel line ON amounts. Seen by axle Oz and Oz' anode, angle ψ and φ are also measured counterclockwise.

It should be noted that the body coordinate system of the controlled plant, be using controlled plant keep flat when surface as Z axis, Front is X-axis, determines Y-axis by the method for right-handed coordinate system, is obtained with this.The then body coordinate of posture factor and main control device System and the body coordinate system of controlled plant are determined, are (θ, ψ, φ).

It should be noted that when being collected into the first signal quality sample information, controlled plant can be allowed to carry out data point Analysis, as long as the controlled plant has processor, can also send to main control device and be calculated, is not limited thereto.It is preferred that, when When data volume is smaller, then controlled plant can be allowed to carry out data analysis, when data volume is larger, then need larger server to enter Row processing, then need motionless equipment earthward to be handled, then can be sent to main control device, enters so as to obtain main control device Row data analysis.

It is similar with step 402 in some feasible embodiments, can be by fixed environment factor, i.e., in spaciousness Under identical environment, obtain the SNR values of multiple positions in such as laboratory or the playground of spaciousness and corresponding relative The position coordinates of position, relative position factor coefficient is calculated with this.

Specifically, in some feasible embodiments, if relative position factor coefficient be a fitting coefficient [c1, C2 ... ..., c10] T, when the position coordinates (xi, yi, zi) based on earth's surface inertial coodinate system for obtaining point I, it can be turned to High order fitting coefficient, by taking second order as an example, is [1, xi, yi, zi, xi2, yb2, zi2, xiyi, yizi, xizi], then causes SNRc =[1, xi, yi, zi, xi2, yi2, zi2, xiyi, yizi, xizi] [c1, c2 ... ..., c10] T, then can calculate and obtain SNRi, (i is 1,2 ... ..., 10).

When it is C=[c1, c2 ... ..., c10] T to need digital simulation coefficient, the first signal quality sampling letter can be obtained The position coordinates (xi, yi, zi) of each relative position of the controlled plant in breath, obtains following matrix：

So that：

In some feasible embodiments, specifically, the position coordinates under the earth's surface inertial coodinate system of another controlled plant is X, the position coordinates relative to the relative position of main control device is X ', then it is considered that SNR=X*A+X ' * B+X " * C, due to can To obtain SNR value, X, X ' and X ", B has been calculated by step xx, has been calculated by step xxx and obtains C, then can counted Calculation obtains A.

Least square method digital simulation coefficient [c1, c2 ... ..., c10] T is reused, then obtains posture factor coefficient C.I.e. A, B and C can be used as the environmental factor coefficient.

The then signal matter that the target location is calculated according to the pinining ground location coordinates of the signal quality coefficient and target location Value includes：

607th, according to the environmental factor coefficient, the relative position coefficient, the posture factor coefficient, the target location ground Position coordinates, the pinining ground location coordinates of the main control device, the signal quality value of the Attitude Calculation of the controlled plant target location.

It refer to step 203.

Step 601 and step 602 are identical with the step 201 and step 202 of above-described embodiment in the present embodiment, do not go to live in the household of one's in-laws on getting married herein State.

Fig. 7 is refer to, including target position is calculated according to the pinining ground location coordinates of the signal quality coefficient and target location After the signal quality value put, in another embodiment of the invention, including：

701st, when controlled plant enters target area, each position in multiple positions in the target area is obtained Signal quality value, obtains the first signal quality sample information.

702nd, data analysis is carried out according to the first signal quality sample information, obtains default signal quality influence factor Corresponding signal quality coefficient.

703rd, the signal matter of the target location is calculated according to the pinining ground location coordinates of the signal quality coefficient and target location Value, the target location is among the target area.

704th, judge whether the signal quality value of the target location is higher than threshold value.

If the 705, it is determined that centered on the target location, threshold length is to be used as signals security in the spheroid of radius Region.

Under some scenes, such as when controlled plant is prepared to enter into A points, signal quality coefficient and A points can be used Position coordinates calculates the signal quality value of A points.Further, target area can be divided into several zonules, then takes one Several points in individual zonule, calculate the signal quality value of the several points respectively, according to the signal quality of the several points Value judges the signal quality of the zonule, if the signal quality of the zonule reaches a standard, can pacify the zonule as signal A region-wide part, otherwise using the zonule as non-signal safety zone a part.

In other feasible embodiments, it is the signal matter for calculating the zonule that can work as and to enter a zonule Amount, integrally judges the signal quality of the zonule, and then can also calculate the signal matter of all zonules of whole target area Amount, and then using signal quality zonule set good enough as signal good area, other signal qualitys are imperfect It is used as Fetion good area.

Step 701 is identical to step 203 with the step 201 of above-described embodiment to step 703 in the present embodiment, does not go to live in the household of one's in-laws on getting married herein State.

Refer to Fig. 8, the embodiment of the present invention also provides a kind of information processor 800, for including main control device and by Control the remote control system of equipment, it is characterised in that including：

First acquisition module 801, for when controlled plant enters target area, obtaining multiple positions in the target area The signal quality value of the position of each in putting, obtains the first signal quality sample information.

First processing module 802, for carrying out data analysis according to the first signal quality sample information, obtains default The corresponding signal quality coefficient of signal quality influence factor.

Computing module 803, the target location is calculated according to the pinining ground location coordinates of the signal quality coefficient and target location Signal quality value, the target location be in the target area among.

Fig. 9 is refer to, when the signal quality value includes signal to noise ratio snr value, first acquisition module 801 includes：

First acquisition submodule 8011, the transmitting for obtaining each position in multiple positions in the target area Power and receiving power.

Calculating sub module 8012, the transmission power for each position in multiple positions in the target area Calculated with receiving power, the SNR value of each position in multiple positions in the target area.

Figure 10 is refer to, when the signal quality influence factor is the environmental factor, the first signal quality sample information It is that the controlled plant is being obtained under the influence of the environmental factor, then the signal quality coefficient is environmental factor coefficient, is somebody's turn to do Computing module 803 includes：

First calculating sub module 8031, based on the pinining ground location coordinates according to the environmental factor coefficient and the target location Calculate the signal quality value of the target location.

Figure 11 is refer to, when the signal quality influence factor is the environmental factor and the relative position factor, this first Signal quality sample information is that the controlled plant is being obtained under the influence of the environmental factor and the relative position factor, Then the signal quality coefficient is environmental factor coefficient and relative position factor coefficient, and the device 800 also includes：

Second acquisition module 804, for when the controlled plant enters specific region, the specific region to be not by the environment The region of factor influence, obtains the signal quality value of each position and relative position in multiple positions in the specific region and sits Mark, obtains secondary signal quality sample information, and the relative position coordinates are position of the controlled plant relative to the main control device Coordinate.

Second processing module 805, for carrying out data analysis according to the first signal quality sample information, obtains this relative Positional factor coefficient.

Then the computing module 803 includes：

Second calculating sub module 8032, for according to the environmental factor coefficient, the relative position coefficient, the target location The pinining ground location coordinates of pinining ground location coordinates, the pinining ground location coordinates of the main control device and the controlled plant calculate the target location Signal quality value.

Refer to Figure 12, when the signal quality influence factor be the environmental factor, the relative position factor and the posture because When plain, the first signal quality sample information is the controlled plant in the environmental factor, the relative position factor and the appearance Obtained under the influence of state factor, then the signal quality coefficient be environmental factor coefficient, relative position factor coefficient and posture because Prime system number, the device 800 also includes：

Second acquisition module 804, for when the controlled plant enters specific region, the specific region to be not by the environment The region of factor influence, obtains the signal quality value of each position in multiple positions in the specific region, obtains the second letter Number quality sample information.

Second processing module 805, for carrying out data analysis according to the first signal quality sample information, obtains this relative Positional factor coefficient.

3rd acquisition module 806, for when the controlled plant is fixed on a position, obtaining many of the controlled plant Signal quality value in individual posture under each posture, obtains the 3rd signal quality sample information.

3rd processing module 807, for carrying out data analysis according to the 3rd signal quality sample information, obtains the posture Factor coefficient.

Then the computing module 803 includes：

3rd calculating sub module 8033, for according to the environmental factor coefficient, the relative position coefficient, the posture factor system Number, the Attitude Calculation of the pinining ground location coordinates of the target location, the pinining ground location coordinates of the main control device, the controlled plant mesh The signal quality value of cursor position.

Figure 13 is refer to, the device 800 also includes：

Judge module 808, for judging whether the signal quality value of the target location is higher than threshold value.

Determining module 809, if being judged as YES for the judge module, it is determined that centered on the target location, threshold value is long Spend in the spheroid for radius as signals security region.

It refer to and a kind of information processor 900 is additionally provided in Figure 14, the embodiment of the present invention, for including main control device With the remote control system of controlled plant, it is characterised in that including：

Transceiver 901, memory 902, processor 903 and bus 904.

The transceiver 901, the memory 902 and the processor 903 are connected by bus 904.

The transceiver 901 is used to, when controlled plant enters target area, obtain in multiple positions in the target area The signal quality value of each position, obtains the first signal quality sample information.

The memory 902 is used for the first signal quality sampling for the target area that storage program, the transceiver 901 are obtained Information.

The processor 903 is used to carry out data analysis according to the first signal quality sample information, obtains default signal The corresponding signal quality coefficient of influencing factors of quality.

The processor 903 is additionally operable to calculate the target according to the pinining ground location coordinates of the signal quality coefficient and target location The signal quality value of position, the target location is among the target area.

It is apparent to those skilled in the art that, for convenience and simplicity of description, the system of foregoing description, The specific work process of device and unit, may be referred to the corresponding process in preceding method embodiment, will not be repeated here.

In several embodiments provided herein, it should be understood that disclosed system, apparatus and method can be with Realize by another way.For example, device embodiment described above is only schematical, for example, the unit Divide, only a kind of division of logic function there can be other dividing mode when actually realizing, such as multiple units or component Another system can be combined or be desirably integrated into, or some features can be ignored, or do not perform.It is another, it is shown or The coupling each other discussed or direct-coupling or communication connection can be the indirect couplings of device or unit by some interfaces Close or communicate to connect, can be electrical, machinery or other forms.

The unit illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs 's.

In addition, each functional unit in each embodiment of the invention can be integrated in a processing unit, can also That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list Member can both be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.

If the integrated unit is realized using in the form of SFU software functional unit and as independent production marketing or used When, it can be stored in a computer read/write memory medium.Understood based on such, technical scheme is substantially The part contributed in other words to prior art or all or part of the technical scheme can be in the form of software products Embody, the computer software product is stored in a storage medium, including some instructions are to cause a computer Equipment (can be personal computer, server, or network equipment etc.) performs the complete of each embodiment methods described of the invention Portion or part steps.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey The medium of sequence code.

Described above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to before Embodiment is stated the present invention is described in detail, it will be understood by those within the art that：It still can be to preceding State the technical scheme described in each embodiment to modify, or equivalent substitution is carried out to which part technical characteristic；And these Modification is replaced, and the essence of appropriate technical solution is departed from the spirit and scope of various embodiments of the present invention technical scheme.

Claims (16)

1. a kind of information processing method, the remote control system for including main control device and controlled plant, it is characterised in that including：

When controlled plant enters target area, the signal matter of each position in multiple positions in the target area is obtained Value, obtains the first signal quality sample information；

Data analysis is carried out according to the first signal quality sample information, default signal quality influence factor is obtained corresponding Signal quality coefficient；

The signal quality value of the target location is calculated according to the signal quality coefficient and the pinining ground location coordinates of target location, The target location is among the target area.

2. method according to claim 1, it is characterised in that the signal quality value includes signal to noise ratio snr value.

3. method according to claim 2, it is characterised in that the signal of multiple positions in the acquisition target area Mass value includes：

Obtain the transmission power and receiving power of each position in multiple positions in the target area；

The transmission power and receiving power of each position in multiple positions in the target area are calculated, the mesh Mark the SNR value of each position in multiple positions in region.

4. the method according to any one of claim 1-3, it is characterised in that the controlled plant include unmanned plane, nobody Car, unmanned boat, unmanned submarines or remote-controlled robot.

5. the method according to any one of claim 1-3, it is characterised in that the signal quality influence factor includes environment Factor, relative position factor and/or posture factor.

6. method according to claim 5, it is characterised in that when the signal quality influence factor is the environmental factor When, then the controlled plant is obtained the first signal quality sample information under the influence of the environmental factor, Then the signal quality coefficient is environmental factor coefficient,

It is then described according to the signal quality coefficient and the signal of the pinining ground location coordinates of the target location calculating target location Mass value includes：

The signal matter of the target location is calculated according to the environmental factor coefficient and the pinining ground location coordinates of the target location Value.

7. method according to claim 5, it is characterised in that when the signal quality influence factor be the environmental factor and During the relative position factor, the first signal quality sample information be the controlled plant in the environmental factor with And obtained under the influence of the relative position factor, then the signal quality coefficient be environmental factor coefficient and relative position because Prime system number,

It is then described according to the signal quality coefficient and the signal of the pinining ground location coordinates of the target location calculating target location Before mass value, in addition to：

When the controlled plant enters specific region, the specific region is region not by the such environmental effects, is obtained The signal quality value and relative position coordinates of each position in multiple positions in the specific region are taken, secondary signal is obtained Quality sample information, the relative position coordinates are position coordinates of the controlled plant relative to the main control device；

Data analysis is carried out according to the secondary signal quality sample information, the relative position factor coefficient is obtained；

It is then described according to the signal quality coefficient and the signal of the pinining ground location coordinates of the target location calculating target location Mass value includes：

According to the environmental factor coefficient, the relative position coefficient, the pinining ground location coordinates of the target location, the master control The pinining ground location coordinates of the pinining ground location coordinates of equipment and the controlled plant calculate the signal quality value of the target location.

8. method according to claim 5, it is characterised in that when the signal quality influence factor be the environmental factor, When the relative position factor and the posture factor, the first signal quality sample information be the controlled plant in Obtained under the influence of the environmental factor, the relative position factor and the posture factor, then the signal quality coefficient For environmental factor coefficient, relative position factor coefficient and posture factor coefficient,

The signal matter that the target location is calculated according to the signal quality coefficient and the pinining ground location coordinates of target location Before value, in addition to：

When the controlled plant enters specific region, the specific region is region not by the such environmental effects, is obtained The signal quality value of each position in multiple positions in the specific region is taken, secondary signal quality sample information is obtained；

Data analysis is carried out according to the first signal quality sample information, the relative position factor coefficient is obtained；

When the controlled plant is fixed on a position, obtain in multiple postures of the controlled plant under each posture Signal quality value, obtain the 3rd signal quality sample information；

Data analysis is carried out according to the 3rd signal quality sample information, the posture factor coefficient is obtained；

It is then described according to the signal quality coefficient and the signal of the pinining ground location coordinates of the target location calculating target location Mass value includes：

According to the environmental factor coefficient, the relative position coefficient, the posture factor coefficient, the target location ground Position coordinates, the pinining ground location coordinates of the main control device, the signal of target location described in the Attitude Calculation of the controlled plant Mass value.

9. method according to claim 1, it is characterised in that including the ground according to the signal quality coefficient and target location Face position coordinates is calculated after the signal quality value of the target location, in addition to：

Judge whether the signal quality value of the target location is higher than threshold value；

If, it is determined that centered on the target location, threshold length is to be used as signals security region in the spheroid of radius.

10. a kind of information processor, the remote control system for including main control device and controlled plant, it is characterised in that including：

First acquisition module, for when controlled plant enters target area, obtaining in multiple positions in the target area The signal quality value of each position, obtains the first signal quality sample information；

First processing module, for carrying out data analysis according to the first signal quality sample information, obtains default signal The corresponding signal quality coefficient of influencing factors of quality；

Computing module, the letter of the target location is calculated according to the signal quality coefficient and the pinining ground location coordinates of target location Number mass value, the target location is among the target area.

11. device according to claim 10, it is characterised in that the signal quality value includes signal to noise ratio snr value, described the One acquisition module includes：

First acquisition submodule, for obtain each position in multiple positions in the target area transmission power and Receiving power；

Calculating sub module, transmission power and reception for each position in multiple positions in the target area The SNR value of each position in multiple positions in power calculation, the target area.

12. according to the described device of claim 10 or 11, it is characterised in that when the signal quality influence factor is the environment During factor, the first signal quality sample information is that the controlled plant is being obtained under the influence of the environmental factor , then the signal quality coefficient is environmental factor coefficient, and the computing module includes：

First calculating sub module, for calculating institute according to the pinining ground location coordinates of the environmental factor coefficient and the target location State the signal quality value of target location.

13. according to the described device of claim 10 or 11, it is characterised in that when the signal quality influence factor is the environment When factor and the relative position factor, the first signal quality sample information is the controlled plant in the environment Obtained under the influence of factor and the relative position factor, then the signal quality coefficient is environmental factor coefficient and relative Positional factor coefficient, described device also includes：

Second acquisition module, for when the controlled plant enters specific region, the specific region to be not by the environment The region of factor influence, obtains the signal quality value and relative position of each position in multiple positions in the specific region Coordinate, obtains secondary signal quality sample information, and the relative position coordinates are that the controlled plant is set relative to the master control Standby position coordinates；

Second processing module, for carrying out data analysis according to the first signal quality sample information, obtains the relative position Put factor coefficient；

Then the computing module includes：

Second calculating sub module, for according to the environmental factor coefficient, the relative position coefficient, the target location ground The pinining ground location coordinates of face position coordinates, the pinining ground location coordinates of the main control device and the controlled plant calculate the target The signal quality value of position.

14. according to the described device of claim 10 or 11, it is characterised in that when the signal quality influence factor is the environment When factor, the relative position factor and the posture factor, the first signal quality sample information is the controlled plant What is obtained under the influence of the environmental factor, the relative position factor and the posture factor, then the signal matter Coefficient of discharge is environmental factor coefficient, relative position factor coefficient and posture factor coefficient, and described device also includes：

Second acquisition module, for when the controlled plant enters specific region, the specific region to be not by the environment The region of factor influence, obtains the signal quality value of each position in multiple positions in the specific region, obtains second Signal quality sample information；

Second processing module, for carrying out data analysis according to the first signal quality sample information, obtains the relative position Put factor coefficient；

3rd acquisition module, for when the controlled plant is fixed on a position, obtaining the multiple of the controlled plant Signal quality value under the posture of each in posture, obtains the 3rd signal quality sample information；

3rd processing module, for according to the 3rd signal quality sample information carry out data analysis, obtain the posture because Prime system number；

Then the computing module includes：

3rd calculating sub module, for according to the environmental factor coefficient, the relative position coefficient, the posture factor system Pinining ground location coordinates, the pinining ground location coordinates of the main control device, the posture meter of the controlled plant of several, described target location Calculate the signal quality value of the target location.

15. device according to claim 10, it is characterised in that also include including device：

Judge module, for judging whether the signal quality value of the target location is higher than threshold value；

Determining module, if being judged as YES for the judge module, it is determined that centered on the target location, threshold length is Signals security region is used as in the spheroid of radius.

16. a kind of information processor, the remote control system for including main control device and controlled plant, it is characterised in that including：

Transceiver, memory, processor and bus；

The transceiver, the memory and the processor are connected by bus；

The transceiver is used to, when controlled plant enters target area, obtain each in multiple positions in the target area The signal quality value of individual position, obtains the first signal quality sample information；

The memory is used for the first signal quality sampling letter for the target area that storage program, the transceiver are obtained Breath；

The processor is used to carry out data analysis according to the first signal quality sample information, obtains default signal quality The corresponding signal quality coefficient of influence factor；

The processor is additionally operable to calculate the target according to the signal quality coefficient and the pinining ground location coordinates of target location The signal quality value of position, the target location is among the target area.