CN107274724B - Unmanned aerial vehicle monitoring system based on self-organizing network relay and GSM communication - Google Patents
Unmanned aerial vehicle monitoring system based on self-organizing network relay and GSM communication Download PDFInfo
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- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
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- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0073—Surveillance aids
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- H04M1/72415—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories for remote control of appliances
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Abstract
The invention discloses an unmanned aerial vehicle monitoring system based on ad hoc network relay and GSM communication. The unmanned aerial vehicle monitoring system receives civil aviation ADS-B information, guides a driver to avoid a related airspace and ensures the safety of aviation operation, and the unmanned aerial vehicle monitoring system receives airspace limit information and meteorological information and ensures the safety of the operation of the unmanned aerial vehicle; the unmanned aerial vehicle monitoring system can realize the identity information verification of the unmanned aerial vehicle and the driver and ensure the matching of the driver; the unmanned aerial vehicle monitored control system can realize the record of flight track, and the later stage analysis of being convenient for as data black box, unmanned aerial vehicle monitored control system keep watch on the management center and can prevent unmanned aerial vehicle driver's dangerous action.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle monitoring systems, in particular to an unmanned aerial vehicle monitoring system based on ad hoc network and GSM communication.
Background
With the rapid development progress of unmanned aerial vehicle technology in recent years, the civil unmanned aerial vehicle market in China shows a vigorous development trend, is mainly applied to the fields of aerial photography, aerial survey, artificial rainfall, agricultural operation and monitoring, remote sensing prospecting, forest fire prevention, meteorological detection and monitoring, coast and border patrol, security and monitoring, emergency rescue, flight club, emergency disaster reduction, alarm condition monitoring and the like, and has penetrated into various fields of national economy. But because unmanned aerial vehicle's take-off and recovery mode are various, flexible and individual is less usually, causes the unmanned aerial vehicle to supervise the degree of difficulty very big. In addition, most unmanned aerial vehicle users do not handle any flight approval procedures or fly contrary to airspace management regulations, and serious threat is caused to aviation safety.
Therefore, it is necessary to develop a monitoring system suitable for the unmanned aerial vehicle.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the unmanned aerial vehicle monitoring system which is long in communication distance and can report unmanned aerial vehicle information in real time, has the functions of weather information early warning, identity recognition, airspace limitation and the like.
The invention discloses an unmanned aerial vehicle monitoring system based on ad hoc network relay and GSM communication, which comprises a monitoring management center (hereinafter referred to as a center), an unmanned aerial vehicle monitoring sky end (hereinafter referred to as a sky end), an unmanned aerial vehicle monitoring ground end (hereinafter referred to as a ground end) and an unmanned aerial vehicle monitoring mobile phone client (hereinafter referred to as a mobile phone client).
The monitoring management center is located at a fixed place and comprises a meteorological information server, an airspace information server, a data communication server and a display command terminal. The main functions of the system are to collect the information of the unmanned aerial vehicle transmitted through the GSM network, collect the current airspace information, meteorological information and the like, and monitor the operation area of the unmanned aerial vehicle. The meteorological information server is used for obtaining the real-time weather condition of the target unmanned aerial vehicle, and sending the ground end of the target unmanned aerial vehicle through the data communication server to provide reference for the unmanned aerial vehicle driver. The airspace information server is used for providing flight information service of the target unmanned aerial vehicle, and comprises a no-fly area, a danger area, a limit area and a civil aviation clearance area, temporarily isolates information such as the airspace, the temporary limit area of civil aviation and military, transmits the information to the ground end of the target unmanned aerial vehicle and a display command terminal through the data communication server, and is used for observation of a driver and a central monitor of the unmanned aerial vehicle. And the data communication server is used for receiving and processing all the information of the unmanned aerial vehicle in operation on the GSM network and providing the information for the display command terminal, the meteorological information server and the airspace information server. The display command terminal is used for integrally displaying information, meteorological information, airspace information and the like of all unmanned aerial vehicles in current operation, ensures operation safety by manually monitoring the operation of the unmanned aerial vehicles, and can send warning information to the ground end of the target unmanned aerial vehicle.
Unmanned aerial vehicle control sky end need install on unmanned aerial vehicle, including flight information module, communication module, identity information module, data processing module, data storage module, power module, its function mainly is to obtain current unmanned aerial vehicle's flight information and regularly transmit information to keeping watch on management center or other aircrafts through communication module. The flight information module is mainly used for obtaining flight information of the current unmanned aerial vehicle, including but not limited to information such as flight speed, altitude, position longitude and latitude, atmospheric pressure, temperature, and this information can be obtained through sensors installed on the sky end such as GPS, barometer, airspeed meter, also can directly obtain from target unmanned aerial vehicle flight controller through data interface. The communication module comprises a GSM communication module and an ad hoc network relay communication module, wherein the GSM communication can realize the two-way communication between the monitoring management center and the unmanned aerial vehicle, the ad hoc network relay communication module can realize the relay of networking between the communication modules (including a sky end and a ground end), the two-way communication between adjacent unmanned aerial vehicles is realized, and the communication distance is increased. The most important thing is that one unmanned aerial vehicle is not directly connected with the GSM network, and the GSM network of the other unmanned aerial vehicle is utilized to realize data transmission with the center through relaying with the other unmanned aerial vehicle. The identity information module stores the unique registration number and the basic type parameters of the current unmanned aerial vehicle and is used for identity confirmation and determining a limited area, and the information of the identity information module is stored by a Read Only Memory (ROM) to prevent illegal tampering of a user. The data processing module can be regarded as a Central Processing Unit (CPU) for processing various data information required by the sky terminal. The data storage module is used for storing flight parameters and flight tracks within a certain time, if the flight information of the unmanned aerial vehicle is sent out periodically and fails, the data storage module can be stored, the data storage module continues to send after the communication is normal, and the unmanned aerial vehicle is guaranteed to be monitored. The power module is used for providing the power to all parts of sky end inside, guarantees its normal work, and it has external power source interface and can obtain the electric energy supply from unmanned aerial vehicle, also has the inside battery deposit simultaneously, and its normal work 2 hours can be guaranteed to the battery, if unmanned aerial vehicle takes place the accident, can guarantee to have sufficient electric energy to continuously send out rescue signal to this unmanned aerial vehicle driver and center, is convenient for search unmanned aerial vehicle.
The unmanned aerial vehicle monitoring ground end comprises a position information module, a communication module, a civil aviation ADS-B signal receiving module, a display, a data processing module, a data storage module and a power supply module, and the unmanned aerial vehicle monitoring ground end mainly has the functions of receiving sky end information, near civil aviation airplane information, airspace information, meteorological information, warning information, near unmanned aerial vehicle flight information and the like sent from the center, and providing information reference required by flight for an unmanned aerial vehicle driver. The position information module is used for acquiring longitude and latitude and height of a position where the ground end is located, and can be acquired through a GPS module arranged inside the ground end. The communication module comprises a GSM communication module, a WIFI communication module and an ad hoc network relay communication module, wherein the GSM communication module can realize two-way communication between the monitoring management center and the ground end, and the ad hoc network relay communication module can realize relay of networking between the communication modules (including the sky end and the ground end), so that the communication distance of the communication modules is increased. The relay communication is characterized in that: all sky ends and ground ends added into a relay communication network can ensure that bidirectional communication connection is established between all sky ends and ground ends and a center for data transmission as long as a GSM module in any communication module is accessed into the GSM network. This function can promote the real time monitoring ability of unmanned aerial vehicle when the not good regional operation of GSM network signal greatly. The WIFI communication module is used for establishing data contact between a ground terminal and a driver mobile phone client. The civil aviation ADS-B signal receiving module is used for receiving the flight information of the civil aviation aircrafts nearby and displaying the flight information at the ground end, and if the unmanned aerial vehicle is too close to the civil aviation aircrafts, the signal receiving module gives a warning to a driver and reports to a center. The display is used for displaying information, including but not limited to corresponding unmanned aerial vehicle's flight information, near airspace information, near civil aviation aircraft flight information, unmanned aerial vehicle's flight information and meteorological information etc. provide reference for the unmanned aerial vehicle pilot. The data processing module can be regarded as a Central Processing Unit (CPU) for processing various data information required by the ground side. The data storage module is used for storing current unmanned aerial vehicle flight information, meteorological information and airspace information in a certain period and is used for later-stage checking. The power supply module is used for supplying power to all components in the ground end to ensure normal work of the components, and is provided with an external power supply interface and an internal battery.
The unmanned aerial vehicle monitoring mobile phone client is a mobile phone software system, a mobile phone of an unmanned aerial vehicle driver is connected with a ground terminal through WIFI, the identity of the unmanned aerial vehicle driver is verified through the client, the sky terminal and the ground terminal of the unmanned aerial vehicle are unlocked only when the verification is passed, and if illegal takeoff is found, the unmanned aerial vehicle monitoring mobile phone client is reported to the center. The unmanned aerial vehicle driver verification mode comprises but is not limited to user name and password, portrait identification, fingerprint verification, flight password verification and the like, the flight process is recorded, and the flight history is recorded. The center can also stop the dangerous behaviors of the unmanned aerial vehicle driver through the client or by dialing the mobile phone. The unmanned aerial vehicle driver can also complete the preparation work of the flight task through the mobile phone client, so that the management of the center is facilitated.
The typical working process of the unmanned aerial vehicle monitoring system in the invention when the unmanned aerial vehicle flies at a certain time is as follows: the unmanned aerial vehicle power supply and the ground end power supply are started firstly, the position of the current flying starting point is determined, the data transmitted from the center is received, and the authentication of unmanned aerial vehicle information and the determination of airspace limitation are completed. The unmanned aerial vehicle driver utilizes the cell-phone WIFI to connect the ground terminal, accomplishes unmanned aerial vehicle driver's authentication through the cell-phone customer end, confirms that current unmanned aerial vehicle driver permits to drive current unmanned aerial vehicle. After verification is completed, the unmanned aerial vehicle driver uploads a flight plan and a flight task through the mobile phone client, and can take off after completion of provision. During flight, the flight information collected by the sky end is continuously sent outwards through a relay network or a GSM network, the center and the accessory unmanned aerial vehicle monitoring ground end can both receive and display the flight information, and meanwhile, the sky end can continuously record the current flight track. The ground end continuously receives the airspace information and meteorological information transmitted by the center and the civil aviation ADS-B information received by the ground end, and if the unmanned aerial vehicle is found to be close to a limited airspace, a civil aviation airplane or other unmanned aerial vehicles, the ground end or the mobile phone client end warns drivers of the unmanned aerial vehicles and reports the warning to the center. The unmanned aerial vehicle executes the task, safely lands, turns off the power supply of the unmanned aerial vehicle, turns off the power supply of the ground end, judges the current position of the sky end, and turns off the unmanned aerial vehicle by itself if the sky end accords with a landing point. And ending the flight task.
The invention has the advantages that:
(1) the real-time monitoring of the unmanned aerial vehicle flight by the monitoring management center is realized;
(2) the relay communication network and the GSM network are adopted, so that the range and the capability of real-time monitoring are improved;
(3) the method can receive the ADS-B information of civil aviation, guide the driver to avoid the relevant airspace and ensure the safety of aviation operation;
(4) the airspace limit information and meteorological information can be received, and the safety of the operation of the unmanned aerial vehicle is ensured;
(5) identity information verification of the unmanned aerial vehicle and the driver can be realized, and matching of the driver is guaranteed;
(6) the recording of the flight track can be realized, and the data black box is convenient for later analysis;
(7) the monitoring management center can stop the dangerous behaviors of the unmanned aerial vehicle driver.
Drawings
Fig. 1 is a schematic diagram of a typical data communication structure of the unmanned aerial vehicle monitoring system of the present invention;
FIG. 2 is a schematic diagram of a monitoring management center according to the present invention;
FIG. 3 is a schematic view of the drone surveillance sky end composition of the present invention;
fig. 4 is a schematic diagram of the composition of the ground end for monitoring the unmanned aerial vehicle.
Detailed Description
The present invention will be described in further detail below with reference to the accompanying drawings.
The unmanned aerial vehicle monitoring system comprises a monitoring management center, an unmanned aerial vehicle monitoring sky end, an unmanned aerial vehicle monitoring ground end and an unmanned aerial vehicle monitoring mobile phone client, wherein a typical communication mode is shown in figure 1. The center is accessed to a public GSM network, and the ground end, the sky end and the mobile phone client can be connected to each server of the center through the GSM network and perform corresponding data exchange with the servers. The communication mode of the sky end comprises two modes: GSM communications and ad hoc relay communications. GSM communication can satisfy data exchange between each sky terminal and the center when there is a GSM signal tower nearby, as shown in fig. 1, the sky terminal B can be connected to the server of the center through the GSM network, but the sky terminal a cannot be connected through the GSM network due to a too long distance. The ad hoc network relay communication can realize the data communication between the sky end A and the sky end B which are adjacent to each other, and also can realize the data communication between the sky end B and the ground end B, and as long as one of the sky end B or the ground end B is connected to the GSM network, the sky end A can establish a data transmission channel with the center through the relay network and then the GSM network. The ground terminal comprises 4 communication modes: GSM communication, ad hoc network relay communication, WIFI communication and civil aviation ADS-B signal reception. In fig. 1, the ground terminal B can receive the ADS-B signal of the attached civil aircraft, process the relevant information and display the information on the ground terminal B. Meanwhile, the ground terminal B establishes connection with the sky terminal B through the ad hoc network relay signal and establishes connection with the center through the GSM network. And the ground terminal B is connected with the mobile phone client terminal B through WIFI. And the mobile phone client B establishes data connection with the ground terminal B through a mobile phone WIFI module and establishes data connection with the center through a GSM network. The description is only for describing the communication connection mode among 2 sky ends, 1 ground end and 1 mobile phone client, and the invention can accommodate more sky ends, ground ends and mobile phone clients, and the communication connection mode can be extended with reference to fig. 1.
The monitoring management center of the invention is composed as shown in figure 2, and comprises a meteorological information server, an airspace information server, a data communication server and a display command terminal. The meteorological information server, the airspace information server and the display command terminal are connected with the data communication server through the local area network, and the data communication server is connected with the GSM network and the wide area network. And the meteorological information server is used for obtaining the real-time weather condition of the target unmanned aerial vehicle. The airspace information server is used for providing flight information service of the target unmanned aerial vehicle, and comprises the ranges of a no-fly zone, a danger zone, a limit zone and a civil aviation clearance zone, and information of a temporary isolation airspace, a temporary limit zone of civil aviation and military and the like. The data communication server is used for receiving and processing all the information of the unmanned aerial vehicles in operation on the GSM network and providing the information to the display command terminal, the meteorological information server and the airspace information server, and the data communication server can establish data contact between each server and the display command terminal. The display command terminal is used for integrally displaying information, meteorological information, airspace information and the like of all unmanned aerial vehicles in current operation, a monitor can monitor the operation of the unmanned aerial vehicles in real time through the display terminal, the operation safety is guaranteed, and warning information can be sent to drivers through the command system when unsafe factors are found.
The unmanned aerial vehicle monitoring sky end is shown in fig. 3 and comprises a flight information module, a communication module, an identity information module, a data processing module, a data storage module and a power supply module. The flight information module can obtain the flight information of the current unmanned aerial vehicle, such as flight speed, altitude, position and the like, is internally provided with a GPS, a barometer, an airspeed meter, a gyroscope, an accelerometer, a magnetometer and the like, measures the relevant information, processes the relevant information in the flight information module to obtain the current flight information, and is provided with a flight information interface, so that the current flight information can be obtained from a flight control system of the aircraft, and all the flight information is processed by the data processing module and then transmitted out by the communication module. The communication module comprises a GSM communication module and an ad hoc network relay communication module, and is connected with an external network through the two modules, the inside of the communication module is connected with the data processing unit through a bus, and the data processing unit controls the communication module to send information content. The GSM communication can realize the two-way communication between the monitoring management center and the unmanned aerial vehicle, the ad hoc network relay communication module can realize the relay of networking between each communication module (including a sky end and a ground end), the two-way communication between adjacent unmanned aerial vehicles is realized, and the communication distance of the unmanned aerial vehicles is increased. The identity information module is used for storing the unique registration number and the basic type parameters of the current unmanned aerial vehicle and is used for identity confirmation and determining a limited area, the obtained identity information is processed by the data processing module and then transmitted out through the communication module, and the information is stored by a Read Only Memory (ROM) to prevent illegal tampering of a user. The data processing module can be regarded as a Central Processing Unit (CPU) which is connected with the flight information module, the communication module, the storage module and the identity information module through an internal bus, processes various data and information generated by the modules and controls the operation of the sky terminal. The data storage module is used for storing flight parameters and flight tracks in a certain period of time, the data storage module is connected with the data processing module through an internal high-speed line, the data processing module can fetch and store information at any time, for example, the information of the unmanned aerial vehicle is sent out periodically and fails, the data storage module can be stored, the communication is sent continuously after normal, and the unmanned aerial vehicle is monitored. The built-in battery of power module and conversion module can follow the trigger and get the electricity and also can use the battery, advances electric quantity supply and distribution to all modules in the sky end, and its built-in battery can guarantee that the sky end normally works for 2 hours, if unmanned aerial vehicle takes place the accident, can have sufficient electric energy to continuously send out rescue signal to this unmanned aerial vehicle driver and center, is convenient for search unmanned aerial vehicle.
The unmanned aerial vehicle monitoring ground end is shown in figure 4 and comprises a position information module, a communication module, a civil aviation ADS-B signal receiving module, a data processing module, a data storage module, a display and a power supply module. The position information module processes and obtains position information of the ground end through a built-in GPS antenna, and transmits the position information to the data processing module through an internal bus, and the position information of the sky end is combined to obtain the direction of the sky end relative to the ground end, so that the directional receiving antenna can be conveniently set, and meanwhile, the position information can be sent to the center through the communication module. The communication module comprises a GSM communication module, an ad hoc network relay communication module and a WIFI module, and is connected with an external network through the three modules, and the inside of the communication module is connected with the data processing module through a bus. The GSM communication can realize the two-way communication between the monitoring management center and the ground terminal, the ad hoc network relay communication module can realize the relay of networking between the communication modules (including the sky terminal and the ground terminal), the two-way communication between the adjacent communication modules is realized, the communication distance of the communication modules is improved, and the WIFI module is used for establishing the relation with the mobile phone client terminal. The civil aviation ADS-B signal receiving module is used for receiving ADS-B signals sent by an accessory civil aviation aircraft and is connected to the data processing module through an internal bus. The data processing module can be regarded as a Central Processing Unit (CPU) which is connected with the position information module, the communication module, the data storage module, the ADS-B signal receiver and the display through an internal bus and is responsible for processing various data and information generated by the modules and controlling the operation of the whole ground end. The data storage module is used for storing flight parameters and data such as flight tracks, meteorological information, airspace information and civil aviation ADS-B information transmitted from the sky end within a certain time, the data storage module is connected with the data processing module through an internal high-speed line, and the data processing module can fetch and store the information at any time. The display is used for displaying various required information, such as flight information of corresponding unmanned aerial vehicles, near airspace information, near civil aviation aircraft flight information, unmanned aerial vehicle flight information, meteorological information and the like, provides reference for unmanned aerial vehicle drivers, and is internally connected with the data processing module through the bus. The power supply module is internally provided with a battery and a conversion module, can take electricity from the outside and can also use the battery to supply and distribute the electricity input quantity of all modules in the ground end.
The unmanned aerial vehicle monitoring mobile phone client is a mobile phone software system, an unmanned aerial vehicle driver establishes connection with a ground end through a mobile phone WIFI, identity verification is carried out on the unmanned aerial vehicle driver through the client, the flight process is recorded, and flight records are recorded. The center can also stop the dangerous behaviors of the unmanned aerial vehicle driver through the client or by dialing the mobile phone. The unmanned aerial vehicle driver can also complete the preparation work of the flight task through the mobile phone client, so that the management of the center is facilitated.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (4)
1. The utility model provides an unmanned aerial vehicle monitored control system based on ad hoc network relay and GSM communication which characterized in that: the unmanned aerial vehicle monitoring system comprises a monitoring management center, an unmanned aerial vehicle monitoring sky end, an unmanned aerial vehicle monitoring ground end and an unmanned aerial vehicle monitoring mobile phone client;
the monitoring management center obtains and summarizes unmanned aerial vehicle information, meteorological information and airspace information through a GSM network and a wide area network, monitors in real time through a monitor and sends an instruction; the unmanned aerial vehicle monitoring sky terminal obtains the flight information of the current unmanned aerial vehicle and periodically transmits the information to a monitoring management center or other aircrafts through a communication module; the unmanned aerial vehicle monitoring ground end receives unmanned aerial vehicle information, nearby civil aircraft information and airspace information, meteorological information, warning information and nearby unmanned aerial vehicle flight information sent by the center from the sky end, and provides information reference required by flight for an unmanned aerial vehicle driver; the unmanned aerial vehicle monitoring mobile phone client is used for verifying the identity of a driver and recording flight records;
the unmanned aerial vehicle monitoring ground end comprises a position information module, a communication module, a civil aviation ADS-B signal receiving module, a data processing module, a data storage module, a display and a power supply module; the position information module, the communication module, the data storage module, the ADS-B signal receiver and the display are all connected with the data processing module through an internal bus, and the power supply module provides energy for the whole ground end; the position information module comprises a GPS sensor and is used for acquiring position information of a ground end; the communication module comprises a GSM module, an ad hoc network communication module and a WIFI module, the ground end is in data connection with an external network through the GSM module and the ad hoc network communication module, and is in data connection with the driver mobile phone client through the WIFI module; the civil aviation ADS-B signal receiving module is used for receiving ADS-B signals of nearby civil aviation airplanes and converting the ADS-B signals into position information of the civil aviation airplanes; the data processing module is used for processing various data information generated by the internal module; the data storage module is used for storing flight parameters, flight tracks, meteorological information, airspace information and civil aviation ADS-B information data; the display is used for displaying information;
the unmanned aerial vehicle monitoring mobile phone client is characterized in that an unmanned aerial vehicle driver mobile phone is connected with a ground terminal through WIFI, identity authentication is carried out on the unmanned aerial vehicle driver through the client, the sky terminal and the ground terminal of the unmanned aerial vehicle are unlocked only when the unmanned aerial vehicle driver passes the authentication, and if illegal takeoff is found, the unmanned aerial vehicle monitoring mobile phone client is reported to a center; the unmanned aerial vehicle driver verification mode comprises but is not limited to user name and password, portrait identification, fingerprint verification and flight password verification, the flight process is recorded, and the flight history is recorded; the center can also prevent the dangerous behaviors of the unmanned aerial vehicle driver through the client or dialing the mobile phone; the unmanned aerial vehicle driver can complete the preparation work of the flight task through the mobile phone client, and the management of the center is convenient.
2. The unmanned aerial vehicle monitoring system based on ad hoc network relay and GSM communication of claim 1, wherein: the monitoring management center comprises a meteorological information server, an airspace information server, a data communication server and a display command terminal, wherein the meteorological information server, the airspace information server and the display command terminal are connected with the data communication server through a local area network, the data communication server is connected with a GSM network and a wide area network, and a monitor monitors and prompts an unmanned aerial vehicle driver through the display command terminal.
3. The unmanned aerial vehicle monitoring system based on ad hoc network relay and GSM communication of claim 1, wherein: the unmanned aerial vehicle monitoring sky end comprises a flight information module, a communication module, an identity information module, a data processing module, a data storage module and a power supply module, wherein the flight information module, the communication module, the storage module and the identity information module are all connected with the data processing module through internal buses, and the power supply module provides energy for the whole sky end; the flight information module comprises a sensor and a flight information interface and is used for acquiring the flight information of the current unmanned aerial vehicle; the communication module comprises a GSM module and an ad hoc network communication module and is used for establishing data connection with the outside; the identity information module is used for storing the unique registration number and the basic type parameter of the current unmanned aerial vehicle; the data processing module is used for processing various data information generated by the internal module; the data storage module is used for storing flight parameters and flight tracks.
4. The unmanned aerial vehicle monitoring system based on ad hoc network relay and GSM communication of claim 1, wherein: the unmanned aerial vehicle monitoring sky end has the function of sending out rescue signals.
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| CN109712434A (en) * | 2017-10-25 | 2019-05-03 | 北京航空航天大学 | A kind of unmanned plane air situation display method for early warning |
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