CN107438801A - A kind of flying vehicles control method, terminal and aircraft - Google Patents
A kind of flying vehicles control method, terminal and aircraft Download PDFInfo
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- CN107438801A CN107438801A CN201680014390.5A CN201680014390A CN107438801A CN 107438801 A CN107438801 A CN 107438801A CN 201680014390 A CN201680014390 A CN 201680014390A CN 107438801 A CN107438801 A CN 107438801A
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- remote control
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- 238000000034 method Methods 0.000 title claims abstract description 130
- 238000004891 communication Methods 0.000 claims description 87
- 238000012790 confirmation Methods 0.000 claims description 56
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- 230000008569 process Effects 0.000 claims description 8
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- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims description 3
- 235000003140 Panax quinquefolius Nutrition 0.000 claims description 3
- 235000008434 ginseng Nutrition 0.000 claims description 3
- 230000004044 response Effects 0.000 claims description 2
- 238000013507 mapping Methods 0.000 description 47
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 37
- 238000012986 modification Methods 0.000 description 16
- 230000004048 modification Effects 0.000 description 16
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- 238000003973 irrigation Methods 0.000 description 1
- 230000002262 irrigation Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C19/00—Electric signal transmission systems
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2637—Vehicle, car, auto, wheelchair
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2651—Camera, photo
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Quality & Reliability (AREA)
- Manufacturing & Machinery (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Engineering & Computer Science (AREA)
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Abstract
A kind of aircraft (101) control method, terminal (102) and aircraft (101), aircraft (101), it can establish and connect with multiple terminals (102).Terminal (102) can include remote control (104), video eyeglasses (103), aircraft (101) can be connected with multiple video eyeglasses (103), simultaneously view data is transmitted to multiple video eyeglasses (103), realization allows multiple users while shared FPV experience, other aircraft (101) is connected with multiple remote controls (104), and master remote controller (104) authority can be set by the user.Simultaneously as the negotiation that one or more controls to aircraft (101) can also be realized between the remote control (104) and/or video eyeglasses (103) of terminal (102).Flexible control of the multiple terminals (102) to aircraft (101) can be realized, system architecture scalability is strong.
Description
Technical field
The application is related to technical field of flight control, more particularly to a kind of flying vehicles control method, terminal and aircraft.
Background technology
Improve with the continuous development of scientific technology, the function of unmanned plane (Unmanned Aerial Vehicle, UAV)
Also in constantly improve, have been widely used at present specialty take photo by plane, agricultural irrigation, electric power cruise, remote sensing mapping, the field such as security monitoring
Jing Zhong, UAV corollary equipment typically have the terminals such as remote control, video eyeglasses, wherein, video eyeglasses can complete UAV and collect
View data display, there is provided the immersion visual experience of first person main perspective (First Person View, FPV), with
And UAV flight control, head can be completed to function, remote controls such as UAV progress motion sensing controls by the posture of video eyeglasses
Control, the functions such as control of taking pictures.
Common configuration at present is that a UAV configures a remote control, or two remote controls of configuration are cooperated flight
Or relay flight, its principal and subordinate's logic can not be set, in over the horizon flight, two remote controls possibly can not meet to control needs；Mesh
It is preceding to configure a video eyeglasses and a remote control for a UAV, it is only a user and FPV visual angles is provided, it is impossible to
Multiple users share FPV experience is provided.
The content of the invention
The embodiment of the present application discloses a kind of flying vehicles control method, terminal and aircraft, can be with multiple terminals to aircraft
Flexible control, system architecture scalability is strong.
The embodiment of the present application first aspect discloses a kind of terminal, including：
Communicator, communicated to connect for being established with aircraft.
Processor, for carrying out data interaction with the aircraft by the communication connection.
The embodiment of the present application second aspect discloses a kind of aircraft, including：
Communicator, communicated to connect for being established with least two terminals.
Flight controller, for carrying out data interaction with least two terminal by the communication connection.
The embodiment of the present application third aspect discloses a kind of flying vehicles control method, including：
Terminal is established with aircraft and communicated to connect.
The terminal carries out data interaction by the communication connection with the aircraft.
The embodiment of the present application fourth aspect discloses a kind of flying vehicles control method, including：
Aircraft and at least two terminals, which are established, to be communicated to connect.
The aircraft carries out data interaction by the communication connection with least two terminal.
Aircraft in the embodiment of the present application, it can establish and connect with multiple terminals.The terminal can include remote control, regard
Frequency glasses, the aircraft can be connected with multiple video eyeglasses, while transmit view data to multiple video eyeglasses, and realization allows
Multiple users shared FPV experience simultaneously, the aircraft is connected with multiple remote controls in addition, and master remote controller authority can be by user
Setting.Simultaneously as the one or more controls that can also be realized between the remote control and/or video eyeglasses of terminal to aircraft
The negotiation of power, it is possible to achieve flexible control of the multiple terminals to aircraft, system architecture scalability are strong.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme in the embodiment of the present application, will use below required in embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present application, for ability
For the those of ordinary skill of domain, without having to pay creative labor, it can also be obtained according to these accompanying drawings other
Accompanying drawing.
Fig. 1 is a kind of structural representation of flight control system disclosed in the embodiment of the present application；
Fig. 2 is the structural representation of another flight control system disclosed in the embodiment of the present application；
Fig. 3 is the structural representation of another flight control system disclosed in the embodiment of the present application；
Fig. 4 is the structural representation of another flight control system disclosed in the embodiment of the present application；
Fig. 5 is the structural representation of another flight control system disclosed in the embodiment of the present application；
Fig. 6 is the structural representation of another flight control system disclosed in the embodiment of the present application；
Fig. 7 is the structural representation of another flight control system disclosed in the embodiment of the present application；
Fig. 8 is the structural representation of another flight control system disclosed in the embodiment of the present application；
Fig. 9 is a kind of schematic flow sheet of flying vehicles control method disclosed in the embodiment of the present application；
Figure 10 is the schematic flow sheet of another flying vehicles control method disclosed in the embodiment of the present application；
Figure 11 is a kind of structural representation of terminal disclosed in the embodiment of the present application；
Figure 12 is a kind of structural representation of aircraft disclosed in the embodiment of the present application；
Figure 13 is the schematic flow sheet of another flying vehicles control method disclosed in the embodiment of the present application；
Figure 14 is the schematic flow sheet of another flying vehicles control method disclosed in the embodiment of the present application.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present application, the technical scheme in the embodiment of the present application is clearly retouched
State, it is clear that described embodiment is only some embodiments of the present application, rather than whole embodiments.Based in the application
Embodiment, the every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made,
Belong to the scope of the application protection.
A kind of referring to Fig. 1, structural representation of the flight control system provided for the embodiment of the present application.The present embodiment
Described in flight control system, including：The terminal 102 of aircraft 101 and at least two, wherein：
The aircraft 101, for establishing communication link with each terminal at least two terminal 102 respectively
Connect.
At least two terminal 102, for carrying out data interaction with the aircraft 101 by the communication connection；
By the data interaction can realize control to the aircraft 101, Stateful Inspection, view data acquisition and display in
One or more.
Wherein, at least two terminals 102 can be specifically at least two remote controls, at least two video eyeglasses, at least one
Any one in individual remote control and at least two video eyeglasses, the particular number of at least two terminals 102 can be according to application
The combined factors such as the actual demand of scene and/or the performance of the performance of aircraft and/or terminal determine that the present embodiment does not limit
It is fixed.
Remote control, it specifically can be used for completing the reception and/or forwarding, the reception of running state data to view data
It is and/or forwarding, the reception of exercise data and/or forwarding, the reception of electric quantity data and/or forwarding, the setting to video eyeglasses, right
Flight control, cradle head control, the shooting of aircraft control, the negotiation of one or more control authorities of aircraft, master remote controller
One or more in the negotiation of authority and link signalling interaction.
Video eyeglasses, it specifically can be used for completing the reception to view data and/or forwarding and/or display, running status
The reception and/or forwarding and/or display of data, the reception of exercise data and/or forwarding and/or display, the reception of electric quantity data
And/or forwarding and/or display, flight control, cradle head control, shooting to aircraft control, to the motion sensing control of aircraft, right
Feedback, the negotiation of one or more control authorities of aircraft, the negotiation of master remote controller authority and the link letter that remote control is set
One or more in order interaction.
Wherein, one or more control authorities of the aircraft include flight control authority, cradle head control authority and bat
The one or more taken the photograph in control authority.
In some feasible embodiments, as shown in Fig. 2 at least two terminal 102 be specifically as follows it is described extremely
Few two video eyeglasses 103, for providing FPV visual experiences simultaneously at least two users.
Optionally, at least one video eyeglasses at least two video eyeglasses 103 are respectively connected with a remote control
Device 104, for controlling the flight of aircraft 101.
Optionally, at least two video eyeglasses at least two video eyeglasses 103 are respectively connected with a remote control
Device 104, for controlling the flight of aircraft 101.
Optionally, at least two video eyeglasses 103 and/or the remote control 104 can realize one to aircraft
Item or the negotiation of multiple control authority and/or the negotiation of master remote controller authority.
At least two video eyeglasses at least two video eyeglasses 103 are respectively connected with a remote control 104
In the case of, remote control 104 can be realized to one or more of aircraft between remote control 104 by the video eyeglasses being connected to
The item negotiation of control authority and/or the negotiation of master remote controller authority.
Wherein, remote control 104 passes through the negotiation of the video eyeglasses that are connected to one or more control authorities of aircraft
Mode can include in the following manner：
Mode one, establishing between at least two video eyeglasses 103 has communication connection, and communication connection can be specifically nothing
Line connects (such as bluetooth, Wireless Fidelity Wi-Fi etc.) or wired connection (such as general-purpose serial bus USB etc.), with asking
Ask the video eyeglasses of the remote control connection for the one or more control authorities for obtaining aircraft to broadcast to other video eyeglasses to be remotely controlled
The acquisition request of device, i.e.,：The first video eyeglasses at least two video eyeglasses 103 receive the be connected with the first video eyeglasses
The acquisition request for one or more control authorities to aircraft that one remote control is sent.
Other video eyeglasses from first video eyeglasses at least two video eyeglasses 103 broadcast obtain request, and to fly
Row device 101 reports acquisition to ask.
Obtained with currently having the second video eyeglasses for being connected of the second remote control of one or more control authorities receiving
When taking request, forwarded to the second remote control and obtain request.
Second remote control is after receiving and obtaining request, if the confirmation operation for obtaining request is received, to the
Two video eyeglasses send the acknowledgement notification for obtaining request, wherein, confirm that operation for example can pass through the second remote control by user
The specified button either combination of at least two buttons or the triggering of the user terminal by being connected with second remote control on device.
Second video eyeglasses, it is additionally operable to forward acknowledgement notification to aircraft 101.
Aircraft 101, asked successfully for being obtained by the first video eyeglasses to the first remote control feedback, and broadcast one
Or multiple control permission modification is all notices of the first remote control.The video eyeglasses for being connected with remote control are receiving aircraft
One or more control authorities of 101 broadcast are changed to after all notices of the first remote control, can be distant to what is each connected
Control device forwards one or more control authorities to be changed to all notices of the first remote control.
Mode two, the remote control of one or more control authorities of acquisition request aircraft are connected to video eyeglasses to flight
Device 101 reports acquisition to ask, the video eye connected from aircraft 101 to the remote control currently with one or more control authorities
Mirror forwarding obtains request, and aircraft 101 records the attaching information of each control authority for having aircraft 101 and video eyeglasses, example
Such as, the mapping table of control authority and video eyeglasses mark can be established, a certain item is can determine that by inquiring about mapping table
Or multiple control authority currently belongs to which video eyeglasses owns, i.e.,：The first video eyeglasses at least two video eyeglasses 103
The acquisition for receiving one or more control authorities to aircraft that the first remote control being connected with the first video eyeglasses is sent please
Ask, and report described obtain to ask to aircraft 101.
Aircraft 101, for the second video connected to second remote control currently with one or more control authorities
Glasses forwarding obtains request.
Second video eyeglasses, request is obtained for being forwarded to the second remote control.
Second remote control, for after acquisition request is received, being operated if receiving for the confirmation for obtaining request,
The acknowledgement notification for obtaining request is sent to the second video eyeglasses.
Second video eyeglasses, it is additionally operable to forward acknowledgement notification to aircraft 101.
Aircraft 101, it is additionally operable to obtain to the first remote control feedback by the first video eyeglasses and asks successfully, and broadcasts one
Item or multiple control permission modification are all notices of first remote control, and the video eyeglasses for being connected with remote control are receiving
One or more control authorities that aircraft 101 is broadcasted are changed to after all notices of the first remote control, can be to each connecting
The remote control connect forwards one or more control authorities to be changed to all notices of the first remote control.
Wherein, remote control 104 negotiation mode of master remote controller authority can be included by the video eyeglasses that are connected to
Under type：
Mode one, establishing between at least two video eyeglasses 103 has communication connection, and communication connection can be specifically nothing
Line connects (such as bluetooth, Wi-Fi etc.) or wired connection (such as USB etc.), acquisition request master remote controller authority it is distant
The acquisition that the video eyeglasses that control device is connected to broadcast remote control to other video eyeglasses is asked, i.e.,：Regarded described in described at least two
The first video eyeglasses in frequency glasses 103 receive the master remote controller that the first remote control being connected with first video eyeglasses is sent
The acquisition request of authority.
Described in other the described video eyeglasses broadcast of first video eyeglasses at least two video eyeglasses 103
Request is obtained, and reports described obtain to ask to the aircraft 101.
Currently as the second video eyeglasses that the second remote control of master remote controller connects when receiving the acquisition request,
Request is obtained to second remote control forwarding is described.
Second remote control is grasped when receiving the acquisition request if receiving for the confirmation for obtaining request
Make, then sent to second video eyeglasses for the acknowledgement notification for obtaining request.
Second video eyeglasses forward the acknowledgement notification to the aircraft 101.
The aircraft 101 by first video eyeglasses to first remote control feed back it is described obtain request into
Work(, and broadcast the notice that master remote controller is changed to first remote control.
Mode two, the video eyeglasses that the remote control of acquisition request master remote controller authority is connected to report to aircraft 101 to be obtained
Request is taken, the video eyeglasses forwarding connected from aircraft 101 to the current remote control as master remote controller obtains request, aircraft
101 records have the attaching information of master remote controller authority and remote control, are connected for example, master remote controller authority can be established with remote control
The mapping table of the mark of the video eyeglasses arrived, it can determine which master remote controller authority currently belongs to by inquiring about mapping table
The remote control of individual video eyeglasses connection owns, i.e.,：The first video eyeglasses at least two video eyeglasses 103 receive and institute
The acquisition request for the master remote controller authority that the first remote control of the first video eyeglasses connection is sent is stated, and to the aircraft 101
Described obtain is reported to ask.
Described in the second video eyeglasses forwarding that the aircraft 101 connects to current the second remote control as master remote controller
Obtain request.
Second video eyeglasses are asked to described obtain of second remote control forwarding.
Second remote control is grasped when receiving the acquisition request if receiving for the confirmation for obtaining request
Make, then sent to second video eyeglasses for the acknowledgement notification for obtaining request.
Second video eyeglasses forward the acknowledgement notification to the aircraft 101.
The aircraft 101 by first video eyeglasses to first remote control feed back it is described obtain request into
Work(, and broadcast the notice that master remote controller is changed to first remote control.
Optionally, it is connected with the video eyeglasses of remote control, the remote control of at least one video eyeglasses connection is connected with
User terminal 105.User terminal 105 is specifically as follows the PC such as desktop computer, notebook computer, or smart mobile phone, flat board electricity
The mobile terminals such as brain, it can be provided with using APP on user terminal 105, remote control is forwarded to user terminal 105 by APP
View data, the Flight Condition Data of aircraft 101, electric quantity data etc. shown.
Wherein, user terminal can be connected to video eyeglasses to remote control by the remote control being connected to and send for flight
The operational order of device 101, operational order is forwarded from video eyeglasses to aircraft 101, i.e.,：First video eyeglasses receive described first
The operational order that first remote control of video eyeglasses connection is sent, the operational order are the use connected by first remote control
Family terminal is sent to first remote control, and first video eyeglasses are connected with regarding for user terminal for the remote control of connection
Any one in frequency glasses.
First video eyeglasses forward the operational order to the aircraft.
In some feasible embodiments, as shown in figure 3, at least two terminals 102 be specifically as follows it is at least one distant
Control the video eyeglasses 103 of device 104 and at least two.
Optionally, at least one remote control 104, at least one remote control is connected with user terminal 105.
Wherein, as shown in Figures 2 and 3, in the case where at least two terminals 102 include at least two video eyeglasses 103,
Video eyeglasses can carry out code check handover operation when receiving packet (such as view data) that aircraft 101 is sent, i.e.,：Institute
State aircraft 101 and send packet to the video eyeglasses.
The video eyeglasses obtain downlink reception parameter when receiving the packet, and the downlink reception parameter includes
One or both of signal to noise ratio snr and BLER(block error rate) BLER.
The video eyeglasses judge whether the downlink reception parameter meets to carry out between default at least two code check
The switching condition of switching.
The video eyeglasses are receiving the process data packet when the downlink reception parameter meets the switching condition
In, switched between default at least two code check.
The video eyeglasses are sent out when the downlink reception parameter is unsatisfactory for the switching condition to the aircraft 101
The notice for sending the video eyeglasses can not be switched between default at least two code check.
In addition, aircraft 101 can also carry out code check when sending packet at least two video eyeglasses 103
And/or the adjustment of modulation system, i.e.,：The aircraft 101 receives at least two video eyeglasses 103 and sends image transmitting feedback letter
Number, and according to the image transmitting feedback signal of at least two video eyeglasses and the quantity of at least two video eyeglasses, adjustment
One or both of code check from packet at least two video eyeglasses, modulation system when sending, adaptive updates code
Rate.
Wherein, as shown in Figures 2 and 3, in the case where at least two terminals 102 include at least two video eyeglasses 103,
The negotiation to one or more control authorities of aircraft can be realized between at least two video eyeglasses 103.At least two regard
In the following manner can be included to the negotiation mode of one or more control authorities of aircraft between frequency glasses 103：
Mode one, establishing between at least two video eyeglasses 103 has communication connection, and communication connection can be specifically nothing
Line connection (such as bluetooth, Wi-Fi etc.) or wired connection (such as USB etc.), one or more of acquisition request aircraft
The acquisition that the video eyeglasses of item control authority broadcast remote control to other video eyeglasses is asked, i.e.,：At least two videos eye
Other video eyeglasses of the first video eyeglasses at least two video eyeglasses 103 in mirror 103 are broadcasted to the flight
The acquisition request of one or more control authorities of device, and report described obtain to ask to the aircraft 101.
Currently there are the second video eyeglasses of one or more control authorities at least two video eyeglasses 103
After the acquisition request is received, operated if receiving for the confirmation for obtaining request, to the aircraft 101
Send for the acknowledgement notification for obtaining request.
The aircraft 101 to first video eyeglasses feedback it is described acquisition asks successfully, and broadcast described one or
Multiple control permission modification is all notices of first video eyeglasses.
Mode two, the video eyeglasses of one or more control authorities of acquisition request aircraft report to aircraft 101 to be obtained
Request is taken, request, aircraft are obtained from aircraft 101 to the video eyeglasses forwarding currently with one or more control authorities
101 record have aircraft 101 each control authority and video eyeglasses attaching information, for example, can establish control authority with
The mapping table of video eyeglasses mark, can determine that a certain item or multiple control authority currently belongs to by inquiring about mapping table
Which video eyeglasses owns, i.e.,：The first video eyeglasses at least two video eyeglasses 103 are on the aircraft 101
The acquisition to one or more control authorities of the aircraft is reported to ask.
The aircraft 101 currently has one or more controls at least two video eyeglasses 103
The second video eyeglasses forwarding of limit is described to obtain request.
Second video eyeglasses obtain request really after the acquisition request is received, if receiving for described
Recognize operation, then sent to the aircraft 101 for the acknowledgement notification for obtaining request.
The aircraft 101 to first video eyeglasses feedback it is described acquisition asks successfully, and broadcast described one or
Multiple control permission modification is all notices of first video eyeglasses.
Optionally, at least one remote control 104 is specifically as follows at least two remote controls 104.
Optionally, one or more controls to the aircraft can be realized between at least two terminal 102
The negotiation of limit and/or the menu setting of at least two video eyeglasses.
Wherein, can to the negotiation mode of one or more control authorities of aircraft between at least two terminal 102
With including in the following manner：
Mode one, establishing between at least two terminal 102 has communication connection, and communication connection can wirelessly be connected
Connect (such as bluetooth, Wireless Fidelity Wi-Fi etc.) or wired connection (such as general-purpose serial bus USB etc.), acquisition request
The acquisition that the terminal of one or more control authorities of aircraft broadcasts remote control to other-end is asked, i.e.,：Described at least two
Other-end of the first terminal at least two terminal 102 in individual terminal 102 broadcasts one to the aircraft
Or the acquisition request of multiple control authority, and report described obtain to ask to the aircraft 101.
Currently the second terminal with one or more control authorities is receiving at least two terminal 102
After the acquisition request, operate for the confirmation for obtaining request if receiving, be directed to the aircraft 101 transmission
The acknowledgement notification for obtaining request.
The aircraft 101 is asked successfully to the acquisition of first terminal feedback, and is broadcasted described one or more
Control authority is changed to all notices of the first terminal.
Mode two, the video eyeglasses of one or more control authorities of acquisition request aircraft report to aircraft 101 to be obtained
Request is taken, request, aircraft are obtained from aircraft 101 to the video eyeglasses forwarding currently with one or more control authorities
101 record have aircraft 101 each control authority and video eyeglasses attaching information, for example, can establish control authority with
The mapping table of video eyeglasses mark, can determine that a certain item or multiple control authority currently belongs to by inquiring about mapping table
Which video eyeglasses owns, i.e.,：First terminal at least two terminal 102 is reported to described to the aircraft 101
The acquisition request of one or more control authorities of aircraft.
The aircraft 101 currently has one or more control authorities at least two terminal 102
Second terminal forwarding is described to obtain request.
The second terminal is grasped after the acquisition request is received if receiving for the confirmation for obtaining request
Make, then sent to the aircraft 101 for the acknowledgement notification for obtaining request.
The aircraft 101 is asked successfully to the acquisition of first terminal feedback, and is broadcasted described one or more
Control authority is changed to all notices of the first terminal.
Wherein, communication connection is established between at least one remote control 104 and at least two video eyeglasses 103,
Menu setting can be carried out to video eyeglasses by remote control, i.e.,：The first video eye at least two video eyeglasses 103
Mirror receives the menu setting instruction that the first remote control at least one remote control 104 is sent.
First video eyeglasses respond the menu setting instruction and the menu on first video eyeglasses are set
Put.
Optionally, at least one remote control 104, at least one remote control is connected with user terminal 105, described
Communication connection is established between at least one remote control 104 and at least two video eyeglasses 103, communication connection can be specifically
Wireless connection (such as bluetooth, Wi-Fi etc.) or wired connection (such as USB etc.), user terminal 105 can pass through company
The remote control being connected to sends operational order to aircraft 101, i.e.,：The user that first remote control described in first remote control connects
The operational order that terminal 105 is sent, first remote control is any one being connected with the remote control of user terminal.
First remote control forwards the operational order to the aircraft 101.
In some feasible embodiments, as shown in figure 4, at least two terminal 102 is at least two remote controls
104。
Optionally, one or more controls to the aircraft can be realized between at least two remote control 104
The negotiation of authority and/or the negotiation of the master remote controller authority, can also have between certain at least two remote control 104 identical
Control authority, coaching mode and student's pattern can also be set between at least two remote controls 104, it is allowed to coach's remote control
The student's remote control of device band at least two.In regulation allowed band, at least two remote controls 104 can complete over the horizon relay and fly
OK.
Wherein, at least two remote control 104 can include in the following manner to the negotiation mode of master remote controller authority：
Mode one, establishing between at least two remote control 104 has communication connection, and communication connection can be specifically wireless
(such as bluetooth, Wireless Fidelity Wi-Fi etc.) or wired connection (such as general-purpose serial bus USB etc.) are connected, request obtains
Take the remote control of master remote controller authority to be broadcasted to other remote controls and obtain request, i.e.,：In at least two remote control 104
The acquisition request of other remote controls broadcast master remote controller authority of one remote control at least two remote control, and to described
Aircraft 101 reports described obtain to ask.
In at least two remote control 104 currently as master remote controller the second remote control receive the acquisition ask
After asking, operated if receiving for the confirmation for obtaining request, being sent to the aircraft 101 please for the acquisition
The acknowledgement notification asked.
The aircraft 101 is asked successfully to the acquisition of first remote control feedback, and broadcasts master remote controller change
For the notice of first remote control.
Mode two, the remote control of acquisition request master remote controller authority reports acquisition to ask to aircraft 101, by aircraft
101 obtain request to the current remote control as master remote controller, and the record of aircraft 101 has returning for master remote controller authority and remote control
Belong to information, for example, the mapping table of master remote controller authority and remote control identification can be established, can by inquiring about mapping table
Determine that master remote controller authority currently belongs to which remote control owns, i.e.,：The first remote control at least two remote control 104
The acquisition for reporting master remote controller authority to the aircraft 101 is asked.
The aircraft 101 current second remote control as master remote controller at least two remote control forwards institute
State acquisition request.
Second remote control is after the acquisition request is received, if receiving for the confirmation for obtaining request
Operation, then sent to the aircraft 101 for the acknowledgement notification for obtaining request.
The aircraft 101 is asked successfully to the acquisition of first remote control feedback, and broadcasts master remote controller change
For the notice of first remote control.
Wherein, negotiation mode of at least two remote control 104 to one or more control authorities of the aircraft
In the following manner can be included：
Mode one, establishing between at least two remote control 104 has communication connection, and communication connection can be specifically wireless
(such as bluetooth, Wireless Fidelity Wi-Fi etc.) or wired connection (such as general-purpose serial bus USB etc.) are connected, request obtains
Take the remote control of one or more control authorities of aircraft to be broadcasted to other remote controls and obtain request, i.e.,：Described at least two
Other remote controls of the first remote control at least two remote control 104 in remote control 104 are broadcasted to the aircraft
One or more control authorities acquisition request, and to the aircraft 101 report it is described obtain ask.
Currently the second remote control with one or more control authorities is connecing at least two remote control 104
After receiving the acquisition request, operate for the confirmation for obtaining request if receiving, sent to the aircraft 101
For the acknowledgement notification for obtaining request.
The aircraft 101 is asked successfully to the acquisition of first remote control feedback, and broadcasts described one or more
Item control authority is changed to all notices of first remote control.
Mode two, the remote control of one or more control authorities of acquisition request aircraft report acquisition to aircraft 101
Request, request is obtained from aircraft 101 to the remote control forwarding currently with one or more control authorities, aircraft 101 is remembered
Record has each control authority of aircraft 101 and the attaching information of remote control, for example, control authority and remote control mark can be established
The mapping table of knowledge, it can determine which remote control is a certain item or multiple control authority currently belong to by inquiring about mapping table
It is all, i.e.,：The first remote control at least two remote control 104 is reported to the aircraft to the aircraft 101
The acquisition request of one or more control authorities.
The aircraft 101 currently has one or more control authorities at least two remote control 104
The second remote control forwarding it is described obtain request.
Second remote control is after the acquisition request is received, if receiving for the confirmation for obtaining request
Operation, then sent to the aircraft 101 for the acknowledgement notification for obtaining request.
The aircraft 101 is asked successfully to the acquisition of first remote control feedback, and broadcasts described one or more
Item control authority is changed to all notices of first remote control.
Optionally, at least two remote control 104, at least one remote control is connected with user terminal 105, user
Terminal 105 can send operational order by the remote control being connected to aircraft 101, i.e.,：Described in first remote control
The operational order that the user terminal 105 of one remote control connection is sent, first remote control is the remote control for being connected with user terminal
Any one in device.
First remote control forwards the operational order to the aircraft 101.
Flight control system in the embodiment of the present application, including aircraft and at least two terminals, at least two terminals
It can be appointing at least two remote controls, at least two video eyeglasses, at least one remote control and at least two video eyeglasses
Meaning is a kind of, and the negotiation of one or more control authorities of aircraft can be carried out between video eyeglasses, can be entered between remote control
The negotiation of one or more control authorities of row aircraft and the negotiation of master remote controller authority, and video eyeglasses may also participate in
The negotiation of one or more control authorities of the aircraft carried out between remote control and the negotiation of master remote controller authority, aircraft
Versatile and flexible with the connected mode of remote control and video eyeglasses, also more flexibly, scalability is strong for the control of aircraft.
Referring to Fig. 5, the structural representation of another flight control system provided for the embodiment of the present application.Work as flight
When the terminal that device distance establishes a connection is distant, the signal intensity interacted between aircraft and terminal can be weaker, can
It can cause to interact failure.Flight control system described in the present embodiment, including：Aircraft 101 and terminal 106,
Wherein：
The aircraft 101, communicated to connect for being established with the terminal 106.
The terminal 106, communicated to connect for being established with least two terminals 102.
The terminal 106, it is additionally operable to complete the reception to view data and/or forwarding and/or display, running status number
According to reception and/or forwarding and/or display, the reception of exercise data and/or forwarding and/or display, the reception of electric quantity data and/
Or forwarding and/or display, the flight control to the aircraft, cradle head control, shooting control, the flight control to the aircraft
System, to remote control set feed back, the negotiation of one or more control authorities of the aircraft, the negotiation of master remote controller authority
One or more in being interacted with link signalling；
Wherein, one or more control authorities of the aircraft include flight control authority, cradle head control authority and bat
The one or more taken the photograph in control authority.The communication connection that the aircraft 101 is established with the terminal 106 can be specifically
Wireless connection (such as bluetooth, Wi-Fi etc.), the communication connection that the terminal 102 of terminal 106 and at least two is established specifically may be used
To be wireless connection (such as bluetooth, Wi-Fi etc.) or wired connection (such as USB etc.).
Optionally, at least two terminal 102 is at least two video eyeglasses or at least two remote controls, at least two
Video eyeglasses, for providing FPV visual experiences, at least two remote controls, for controlling aircraft simultaneously at least two users
101 flight.
Wherein, at least two terminal 102 can be realized by the terminal 106 to one of the aircraft or
The negotiation of multiple control authority, negotiation mode can include in the following manner：
Mode one, the terminal of one or more control authorities of acquisition request aircraft sends to obtain to terminal 106 asks
Ask, report acquisition to ask from terminal 106 to aircraft 101, there is one to current by terminal 106 from aircraft 101
Or the terminal forwarding of multiple control authority obtains request, aircraft 101 records each control authority and terminal for having aircraft 101
Attaching information, can be true by inquiring about mapping table for example, the mapping table of control authority and terminal iidentification can be established
Fixed a certain item or multiple control authority currently belongs to which terminal owns, i.e.,：The terminal 106 receives described at least two eventually
The acquisition request for one or more control authorities to the aircraft that first terminal in end 102 is sent, and fly to described
Row device 101 reports described obtain to ask.
The aircraft 101 currently has described one at least two terminal 102 by the terminal 106
Or described obtain of second terminal forwarding of multiple control authority is asked.
The second terminal is after the acquisition forwarded by the terminal 106 request is received, if receiving pin
The confirmation for obtaining request is operated, then being sent by the terminal 106 to the aircraft 101 please for the acquisition
The acknowledgement notification asked.
The aircraft 101 feeds back the acquisition by the terminal 106 to the first terminal asks successfully, and extensively
Broadcast one or more control authorities and be changed to all notices of the first terminal.
Mode two, establishing between at least two terminal 102 has communication connection, and communication connection can wirelessly be connected
Connect (such as bluetooth, Wireless Fidelity Wi-Fi etc.) or wired connection (such as general-purpose serial bus USB etc.), acquisition request
The terminal of one or more control authorities of aircraft is broadcasted to other-end and obtains request, i.e.,：At least two terminal 102
In other-end of the first terminal at least two terminal 102 broadcast one or more controls to the aircraft
The acquisition request of authority, and report described obtain to ask to the aircraft 101 by the terminal 106.
Currently the second terminal with one or more control authorities is receiving at least two terminal 102
It is described obtain request after, operated if receiving for the confirmation for obtaining request, by the terminal 106 to described
Aircraft 101 is sent for the acknowledgement notification for obtaining request.
The aircraft 101 feeds back the acquisition by the terminal 106 to the first terminal asks successfully, and extensively
Broadcast one or more control authorities and be changed to all notices of the first terminal.
In some feasible embodiments, as shown in fig. 6, at least two terminal 102 is at least two remote controls
104, can realize between at least two remote control 104 negotiation to one or more control authorities of aircraft and/or
The negotiation of master remote controller authority.There can also be identical control authority between certain at least two remote control 104, at least two
Coaching mode and student's pattern can also be set between remote control 104, it is allowed to which coach's remote control at least two students of band are distant
Control device.In regulation allowed band, at least two remote controls 104 can complete over the horizon relay flight.Described at least two is distant
Control in device 104, at least one remote control is connected with user terminal 105, can be provided with using APP on user terminal 105, leads to
View data, the Flight Condition Data of aircraft 101, electric quantity data that APP forwards remote control to user terminal 105 etc. is crossed to enter
Row display.
Wherein, at least two remote control 104 can include in the following manner to the negotiation mode of master remote controller authority：
Mode one, the remote control of acquisition request master remote controller authority is sent to terminal 106 obtains request, by terminal
106 report acquisition to ask to aircraft 101, and request is obtained from aircraft 101 to the current remote control forwarding as master remote controller,
Aircraft 101 records the attaching information for having master remote controller authority and remote control, for example, master remote controller authority and remote control can be established
The mapping table of device mark, can determine which remote control institute is master remote controller authority currently belong to by inquiring about mapping table
Have, i.e.,：The terminal 106 receives the master remote controller authority that the first remote control at least two remote control 104 is sent
Acquisition request, and to the aircraft 101 report it is described obtain ask.
The aircraft 101 is currently used as main remote control by the terminal 106 at least two remote control 104
The second remote control forwarding of device is described to obtain request.
Second remote control is after the acquisition forwarded by the terminal 106 request is received, if receiving
Operated for the confirmation for obtaining request, then sent by the terminal 106 to the aircraft 101 and be directed to the acquisition
The acknowledgement notification of request.
The aircraft 101 feeds back the acquisition by the terminal 106 to first remote control asks successfully, and
Broadcast master remote controller is changed to the notice of first remote control.
Mode two, establishing between at least two remote control 104 has communication connection, and communication connection can be specifically wireless
Connect (such as bluetooth, Wi-Fi etc.) or wired connection (such as USB etc.), the remote control of acquisition request master remote controller authority
Device is broadcasted to other remote controls and obtains request, i.e.,：The first remote control at least two remote control 104 is to described at least two
The acquisition request of other described remote controls broadcast master remote controller authorities in individual remote control 104, and by the terminal 106 to
The aircraft 101 reports described obtain to ask.
In at least two remote control 104 currently as master remote controller the second remote control receive the acquisition ask
After asking, operated if receiving for the confirmation for obtaining request, by the terminal 106 to the aircraft 101
Send for the acknowledgement notification for obtaining request.
The aircraft 101 feeds back the acquisition by the terminal 106 to first remote control asks successfully, and
Broadcast master remote controller is changed to the notice of first remote control.
In some feasible embodiments, as shown in fig. 7, at least two terminal 102 is at least two video eyes
Mirror 103, video eyeglasses can enter when receiving packet (such as view data) of the transmission of aircraft 101 by terminal 106
Row code check handover operation, i.e.,：The terminal 106 receives the packet that the aircraft 101 is sent.
The terminal 106 forwards the packet to the video eyeglasses.
The video eyeglasses obtain downlink reception parameter when receiving the packet, and judge the downlink reception ginseng
Whether number meets the switching condition switched between default at least two code check, and the downlink reception parameter includes noise
Than one or both of SNR and BLER(block error rate) BLER.
The video eyeglasses are receiving the process data packet when the downlink reception parameter meets the switching condition
In, switched between default at least two code check.
The video eyeglasses are sent out when the downlink reception parameter is unsatisfactory for the switching condition to the terminal 106
The notice for sending the video eyeglasses can not be switched between default at least two code check.
The terminal 106 forwards the video eyeglasses can not be described default at least two to the aircraft 101
The notice switched between code check.
Meanwhile aircraft 101 can also carry out code check and/or modulation system when sending packet to terminal 106
Adjustment, i.e.,：
The aircraft 101 receives the image transmitting feedback letter of at least two video eyeglasses transmission by terminal
Number, and according to the image transmitting feedback signal of most video eyeglasses and the quantity of at least two video eyeglasses, adjustment
Code check from packet to the terminal 106 and/or modulation system when sending, adaptive updates code check.
In some feasible embodiments, as shown in figure 8, at least two terminal 102 regards for described at least two
Frequency glasses 103, the aircraft 101 are also established with least one remote control 104 and communicated to connect, and communication connection can be specifically nothing
Line connects (such as bluetooth, Wi-Fi etc.).
Wherein, terminal can be passed through between at least two video eyeglasses 103 and at least one remote control 104
106 realize the negotiation to one or more control authorities of aircraft.Aircraft 101 records each control for having aircraft 101
The attaching information of authority and video eyeglasses and/or remote control, for example, can establish control authority and video eyeglasses mark and/or
The mapping table of remote control identification, it can determine which a certain item or multiple control authority currently belongs to by inquiring about mapping table
Individual video eyeglasses or which remote control own, including following two situations：
Situation one, one or more control authorities of aircraft described in remote control acquisition request, current video glasses have
One or more control authorities, then：The first remote control at least one remote control 104 is to the aircraft 101
The acquisition to one or more control authorities of the aircraft is reported to ask.
The aircraft 101 by the terminal 106 at least two video eyeglasses 103 it is current have it is described
The first video eyeglasses forwarding of one or more control authorities is described to obtain request.
First video eyeglasses are after the acquisition forwarded by the terminal request is received, if receiving pin
The confirmation for obtaining request is operated, then being sent by the terminal 106 to the aircraft 101 please for the acquisition
The acknowledgement notification asked.
The aircraft 101 is asked successfully to the acquisition of first remote control feedback, and broadcasts described one or more
Item control authority is changed to all notices of first remote control.
Situation two, one or more control authorities of aircraft described in video eyeglasses acquisition request, current remote control have
One or more control authorities, then：What the terminal 106 was received at least two video eyeglasses 103 first regards
The acquisition request of the one or more control authorities for the aircraft that frequency glasses are sent, and report institute to the aircraft 101
State acquisition request.
The aircraft 101 currently has one or more control authorities at least one remote control 104
The first remote control forwarding it is described obtain request.
First remote control is after the acquisition request is received, if receiving for the confirmation for obtaining request
Operation, then sent to the aircraft 101 for the acknowledgement notification for obtaining request.
The aircraft 101 feeds back the acquisition by the terminal 106 to first video eyeglasses asks successfully,
And broadcast one or more control authorities and be changed to all notices of first video eyeglasses.
Optionally, each remote control at least one remote control 104 is established with the terminal 106 and communicated
Connection, communication connection can be specifically wireless connection (such as bluetooth, Wi-Fi etc.) or wired connection (such as USB
Deng).
Wherein, menu setting can be carried out to video eyeglasses by terminal 106 by remote control, i.e.,：Described at least two
The first remote control that the first video eyeglasses in individual video eyeglasses 103 are received at least one remote control 104 passes through described
The menu setting instruction that terminal 106 is sent.
First video eyeglasses respond the menu setting instruction and the menu on first video eyeglasses are set
Put.
Optionally, at least one remote control 104 is a remote control.
Wherein, terminal 106 can be passed through between at least two video eyeglasses 103 and one remote control 104
Realize the negotiation to one or more control authorities of aircraft.Aircraft 101 records each control authority for having aircraft 101
With video eyeglasses and/or the attaching information of remote control, identify and/or be remotely controlled with video eyeglasses for example, control authority can be established
The mapping table of device mark, can determine which a certain item or multiple control authority currently belongs to and regard by inquiring about mapping table
Frequency glasses or which remote control own, including following two situations：
Situation one, one or more control authorities of aircraft, current video described in one remote control acquisition request
Glasses have one or more control authorities, then：One remote control 104 is sent to described to the terminal 106
The acquisition request of one or more control authorities of aircraft, and report described obtain to ask to the aircraft 101.
The terminal 106 is broadcasted described obtain at least two video eyeglasses 103 and asked.
Currently there are the first video eyeglasses of one or more control authorities at least two video eyeglasses 103
After the acquisition request is received, operated if receiving for the confirmation for obtaining request, pass through the terminal
106 send for the acknowledgement notification for obtaining request to the aircraft 101.
The aircraft 101 to one remote control 104 feed back it is described acquisition asks successfully, and broadcast described one or
Multiple control permission modification is all notices of one remote control.
Situation two, one or more control authorities of aircraft described in video eyeglasses acquisition request are presently described one distant
Control utensil has one or more control authorities, then：The terminal 106 is received at least two video eyeglasses 103
The acquisition request of one or more control authorities to the aircraft that sends of the first video eyeglasses, and to the aircraft
101 report described obtain to ask.
Other videos of the terminal 106 into one remote control 104 and at least two video eyeglasses 103
Glasses broadcast is described to obtain request.
Currently one remote control with one or more control authorities is receiving the acquisition request
Afterwards, the confirmation asked operation is obtained for described if receiving, is sent to the aircraft 101 and obtain what is asked for described
Acknowledgement notification.
The aircraft 101 feeds back the acquisition by the terminal 106 to first video eyeglasses asks successfully,
And broadcast one or more control authorities and be changed to all notices of first video eyeglasses.
Optionally, at least one remote control 104 is at least two remote controls 104.
Wherein, at least two remote control 104 can be completed to one or more control authorities of the aircraft
Negotiation and/or the negotiation of the master remote controller authority.
Wherein, at least two remote control 104 can include in the following manner to the negotiation mode of master remote controller authority：
Mode one, establishing between at least two remote control 104 has communication connection, and communication connection can be specifically wireless
Connect (such as bluetooth, Wi-Fi etc.) or wired connection (such as USB etc.), the remote control of acquisition request master remote controller authority
Device is broadcasted to other remote controls and obtains request, i.e.,：The first remote control at least two remote control 104 is to described at least two
The acquisition request of other remote controls broadcast master remote controller authority in individual remote control, and report described obtain to the aircraft 101
Take request.
In at least two remote control 104 currently as master remote controller the second remote control receive the acquisition ask
After asking, operated if receiving for the confirmation for obtaining request, being sent to the aircraft 101 please for the acquisition
The acknowledgement notification asked.
The aircraft 101 is asked successfully to the acquisition of first remote control feedback, and broadcasts master remote controller change
For the notice of first remote control.
Mode two, the remote control of acquisition request master remote controller authority reports acquisition to ask to aircraft 101, by aircraft
101 obtain request to the current remote control as master remote controller, and the record of aircraft 101 has returning for master remote controller authority and remote control
Belong to information, for example, the mapping table of master remote controller authority and remote control identification can be established, can by inquiring about mapping table
Determine that master remote controller authority currently belongs to which remote control owns, i.e.,：The first remote control at least two remote control 104
The acquisition for reporting master remote controller authority to the aircraft 101 is asked.
The aircraft 101 current second remote control as master remote controller at least two remote control forwards institute
State acquisition request.
Second remote control is after the acquisition request is received, if receiving for the confirmation for obtaining request
Operation, then sent to the aircraft 101 for the acknowledgement notification for obtaining request.
The aircraft 101 is asked successfully to the acquisition of first remote control feedback, and broadcasts master remote controller change
For the notice of first remote control.
Wherein, negotiation mode of at least two remote control 104 to one or more control authorities of the aircraft
In the following manner can be included：
Mode one, establishing between at least two remote control 104 has communication connection, and communication connection can be specifically wireless
(such as bluetooth, Wireless Fidelity Wi-Fi etc.) or wired connection (such as general-purpose serial bus USB etc.) are connected, request obtains
Take the remote control of one or more control authorities of aircraft to be broadcasted to other remote controls and obtain request, i.e.,：Described at least two
Other remote controls of the first remote control at least two remote control 104 in remote control 104 are broadcasted to the aircraft
One or more control authorities acquisition request, and to the aircraft 101 report it is described obtain ask.
Currently the second remote control with one or more control authorities is connecing at least two remote control 104
After receiving the acquisition request, operate for the confirmation for obtaining request if receiving, sent to the aircraft 101
For the acknowledgement notification for obtaining request.
The aircraft 101 is asked successfully to the acquisition of first remote control feedback, and broadcasts described one or more
Item control authority is changed to all notices of first remote control.
Mode two, the remote control of one or more control authorities of acquisition request aircraft report acquisition to aircraft 101
Request, request is obtained from aircraft 101 to the remote control forwarding currently with one or more control authorities, aircraft 101 is remembered
Record has each control authority of aircraft 101 and the attaching information of remote control, for example, control authority and remote control mark can be established
The mapping table of knowledge, it can determine which remote control is a certain item or multiple control authority currently belong to by inquiring about mapping table
It is all, i.e.,：The first remote control at least two remote control 104 is reported to the aircraft to the aircraft 101
The acquisition request of one or more control authorities.
The aircraft 101 currently has one or more control authorities at least two remote control 104
The second remote control forwarding it is described obtain request.
Second remote control is after the acquisition request is received, if receiving for the confirmation for obtaining request
Operation, then sent to the aircraft 101 for the acknowledgement notification for obtaining request.
The aircraft 101 is asked successfully to the acquisition of first remote control feedback, and broadcasts described one or more
Item control authority is changed to all notices of first remote control.
Wherein, terminal can be passed through between at least two video eyeglasses 103 and at least two remote control 104
106 realize the negotiation to one or more control authorities of aircraft.Aircraft 101 records each control for having aircraft 101
The attaching information of authority and video eyeglasses and/or remote control, for example, can establish control authority and video eyeglasses mark and/or
The mapping table of remote control identification, it can determine which a certain item or multiple control authority currently belongs to by inquiring about mapping table
Individual video eyeglasses or which remote control own, including following two situations：
Situation one, one or more control authorities of aircraft described in remote control acquisition request, current video glasses have
One or more control authorities, then：The first remote control at least two remote control 104 is distant to described at least two
Other described remote controls and the terminal 106 in control device 104 broadcast one or more control authorities to the aircraft
Acquisition request, and to the aircraft 101 report it is described obtain ask.
The terminal 106 is broadcasted described obtain at least two video eyeglasses 103 and asked.
Currently there are the first video eyeglasses of one or more control authorities at least two video eyeglasses 103
After the acquisition request is received, operated if receiving for the confirmation for obtaining request, pass through the terminal
106 send for the acknowledgement notification for obtaining request to the aircraft 101.
The aircraft 101 is asked successfully to the acquisition of first remote control feedback, and broadcasts described one or more
Item control authority is changed to all notices of first remote control.
Situation two, one or more control authorities of aircraft described in video eyeglasses acquisition request, current remote control have
One or more control authorities, then：The terminal 106 receives the first video at least two video eyeglasses 103
The acquisition request for one or more control authorities to the aircraft that glasses are sent, and report institute to the aircraft 101
State acquisition request.
Other at least two remote control 104 and at least two video eyeglasses 103 of the terminal 106
Video eyeglasses broadcast is described to obtain request.
Currently the first remote control with one or more control authorities is connecing at least two remote control 104
After receiving the acquisition request, operate for the confirmation for obtaining request if receiving, sent to the aircraft 101
For the acknowledgement notification for obtaining request.
The aircraft 101 feeds back the acquisition by the terminal 106 to first video eyeglasses asks successfully,
And broadcast one or more control authorities and be changed to all notices of first video eyeglasses.
Flight control system in the embodiment of the present application, including aircraft and terminal, terminal can be with least two
Any one foundation in individual remote control, at least two video eyeglasses, at least one remote control and at least two video eyeglasses is logical
Letter connects, and can pass through the association that terminal carries out one or more control authorities of aircraft between at least two video eyeglasses
Business, negotiation and the master of one or more control authorities of aircraft can be carried out between at least two remote controls by terminal
The negotiation of remote control authority.Communicated to connect in addition, aircraft can also be established with least one remote control, at least one remote control
Between can also directly carry out or pass through terminal carry out aircraft one or more control authorities negotiation and master it is distant
The negotiation of device authority is controlled, it is versatile and flexible so as to the connected mode of aircraft and terminal, remote control and video eyeglasses, aircraft
Also more flexibly, scalability is strong for control.
A kind of referring to Fig. 9, schematic flow sheet of the flying vehicles control method provided for the embodiment of the present application.The present embodiment
Described in flying vehicles control method, applied to flight control system, the flight control system include aircraft and
At least two terminals, methods described include：
S101, aircraft are established with least two terminals communicate to connect respectively.
Wherein, at least two terminals can be specifically at least two remote controls, it is at least two video eyeglasses, at least one distant
Any one in device and at least two video eyeglasses is controlled, the particular number of at least two terminals can be according to the reality of application scenarios
The combined factors such as the performance of performance and/or terminal of border demand and/or aircraft determine that the present embodiment does not limit.
Remote control, it specifically can be used for completing the reception and/or forwarding, the reception of running state data to view data
It is and/or forwarding, the reception of exercise data and/or forwarding, the reception of electric quantity data and/or forwarding, the setting to video eyeglasses, right
Flight control, cradle head control, the shooting of aircraft control, the negotiation of one or more control authorities of aircraft, master remote controller
One or more in the negotiation of authority and link signalling interaction.
Video eyeglasses, it specifically can be used for completing the reception to view data and/or forwarding and/or display, running status
The reception and/or forwarding and/or display of data, the reception of exercise data and/or forwarding and/or display, the reception of electric quantity data
And/or forwarding and/or display, flight control, cradle head control, shooting to aircraft control, to the motion sensing control of aircraft, right
Feedback, the negotiation of one or more control authorities of aircraft, the negotiation of master remote controller authority and the link letter that remote control is set
One or more in order interaction.
Wherein, one or more control authorities of the aircraft include flight control authority, cradle head control authority and bat
The one or more taken the photograph in control authority.
S102, at least two terminal carry out data interaction by the communication connection with the aircraft.
In some feasible embodiments, at least two terminal is specifically as follows at least two videos eye
Mirror, for providing FPV visual experiences simultaneously at least two users.
Optionally, at least one video eyeglasses at least two video eyeglasses are respectively connected with a remote control,
For controlling the flight of aircraft.
Optionally, at least two video eyeglasses at least two video eyeglasses are respectively connected with a remote control,
For controlling the flight of aircraft.
Optionally, at least two video eyeglasses and/or the remote control can realize one or more to aircraft
The item negotiation of control authority and/or the negotiation of master remote controller authority.
At least two video eyeglasses at least two video eyeglasses are respectively connected with the situation of a remote control
Under, remote control can be realized to one or more control authorities of aircraft between remote control by the video eyeglasses being connected to
Negotiation and/or the negotiation of master remote controller authority.
Wherein, negotiation mode of the remote control by the video eyeglasses that are connected to one or more control authorities of aircraft
In the following manner can be included：
Mode one, establishing between at least two video eyeglasses has communication connection, and communication connection can be specifically wireless
(such as bluetooth, Wireless Fidelity Wi-Fi etc.) or wired connection (such as general-purpose serial bus USB etc.) are connected, request obtains
The video eyeglasses that the remote control of one or more control authorities of aircraft is connected to are taken to broadcast remote control to other video eyeglasses
Acquisition request, i.e.,：It is distant that the first video eyeglasses at least two video eyeglasses receive first be connected with the first video eyeglasses
Control the acquisition request for one or more control authorities to aircraft that device is sent.
Other video eyeglasses broadcast of first video eyeglasses at least two video eyeglasses obtains request, and to aircraft
Acquisition is reported to ask.
The second video eyeglasses that currently the second remote control with one or more control authorities connects are receiving acquisition
During request, forwarded to the second remote control and obtain request.
Second remote control is after receiving and obtaining request, if the confirmation operation for obtaining request is received, to the
Two video eyeglasses send the acknowledgement notification for obtaining request, wherein, confirm that operation for example can pass through the second remote control by user
The combination triggering of specified button or at least two buttons on device.
Second video eyeglasses, it is additionally operable to forward acknowledgement notification to aircraft.
Aircraft, for by the first video eyeglasses to the first remote control feedback obtain ask successfully, and broadcast one or
Multiple control permission modification is all notices of the first remote control.The video eyeglasses of remote control are connected with to receive aircraft wide
The one or more control authorities broadcast are changed to after all notices of the first remote control, can be turned to the remote control each connected
Sending out control authority one or more is changed to all notices of the first remote control.
Mode two, the remote control of one or more control authorities of acquisition request aircraft are connected to video eyeglasses to flight
Device reports acquisition to ask, and is forwarded from the video eyeglasses that aircraft connects to the remote control currently with one or more control authorities
Request is obtained, aircraft record has each control authority of aircraft and the attaching information of video eyeglasses, for example, control can be established
The mapping table of authority processed and video eyeglasses mark, a certain item or multiple control authority is can determine that by inquiring about mapping table
Currently belong to which video eyeglasses owns, i.e.,：The first video eyeglasses at least two video eyeglasses receive and the first video eye
The acquisition request for one or more control authorities to aircraft that first remote control of mirror connection is sent, and reported to aircraft
It is described to obtain request.
Aircraft, for the second video eyeglasses connected to second remote control currently with one or more control authorities
Forwarding obtains request.
Second video eyeglasses, request is obtained for being forwarded to the second remote control.
Second remote control, for after acquisition request is received, being operated if receiving for the confirmation for obtaining request,
The acknowledgement notification for obtaining request is sent to the second video eyeglasses.
Second video eyeglasses, it is additionally operable to forward acknowledgement notification to aircraft.
Aircraft, it is additionally operable to obtain to the first remote control feedback by the first video eyeglasses and asks successfully, and broadcasts one
Or multiple control permission modification is all notice of first remote control, be connected with the video eyeglasses of remote control receive it is winged
One or more control authorities of row device broadcast are changed to after all notices of the first remote control, can be distant to what is each connected
Control device forwards one or more control authorities to be changed to all notices of the first remote control.
Wherein, remote control can be included with lower section by the video eyeglasses being connected to the negotiation mode of master remote controller authority
Formula：
Mode one, establishing between at least two video eyeglasses has communication connection, and communication connection can be specifically wireless
Connect (such as bluetooth, Wi-Fi etc.) or wired connection (such as USB etc.), the remote control of acquisition request master remote controller authority
The acquisition that the video eyeglasses that device is connected to broadcast remote control to other video eyeglasses is asked, i.e.,：At least two video
The first video eyeglasses in glasses receive the master remote controller authority that the first remote control being connected with first video eyeglasses is sent
Acquisition request.
Obtained described in other the described video eyeglasses broadcast of first video eyeglasses at least two video eyeglasses
Request is taken, and reports described obtain to ask to the aircraft.
Currently as the second video eyeglasses that the second remote control of master remote controller connects when receiving the acquisition request,
Request is obtained to second remote control forwarding is described.
Second remote control is grasped when receiving the acquisition request if receiving for the confirmation for obtaining request
Make, then sent to second video eyeglasses for the acknowledgement notification for obtaining request.
Second video eyeglasses forward the acknowledgement notification to the aircraft.
The aircraft feeds back the acquisition by first video eyeglasses to first remote control asks successfully, and
Broadcast master remote controller is changed to the notice of first remote control.
Mode two, the video eyeglasses that the remote control of acquisition request master remote controller authority is connected to report acquisition please to aircraft
Ask, the video eyeglasses forwarding connected from aircraft to the current remote control as master remote controller obtains request, and aircraft record has
The attaching information of master remote controller authority and remote control, for example, the video that master remote controller authority is connected to remote control can be established
The mapping table of the mark of glasses, it can determine which video eye is master remote controller authority currently belong to by inquiring about mapping table
The remote control of mirror connection owns, i.e.,：The first video eyeglasses at least two video eyeglasses receive and first video
The acquisition request for the master remote controller authority that first remote control of glasses connection is sent, and report the acquisition please to the aircraft
Ask.
Obtained described in the second video eyeglasses forwarding that the aircraft connects to current the second remote control as master remote controller
Take request.
Second video eyeglasses are asked to described obtain of second remote control forwarding.
Second remote control is grasped when receiving the acquisition request if receiving for the confirmation for obtaining request
Make, then sent to second video eyeglasses for the acknowledgement notification for obtaining request.
Second video eyeglasses forward the acknowledgement notification to the aircraft.
The aircraft feeds back the acquisition by first video eyeglasses to first remote control asks successfully, and
Broadcast master remote controller is changed to the notice of first remote control.
Optionally, it is connected with the video eyeglasses of remote control, the remote control of at least one video eyeglasses connection is connected with
User terminal.User terminal is specifically as follows the PC such as desktop computer, notebook computer, or smart mobile phone, tablet personal computer etc. move
Dynamic terminal, it can be provided with using APP on user terminal, it is view data from remote control to user terminal that forward by APP to, winged
The Flight Condition Data of row device, electric quantity data etc. are shown.
Wherein, user terminal can be connected to video eyeglasses to remote control by the remote control being connected to and send for flight
The operational order of device, operational order is forwarded from video eyeglasses to aircraft, i.e.,：First video eyeglasses receive the first video eye
The operational order that first remote control of mirror connection is sent, the operational order are the user terminals connected by first remote control
Sent to first remote control, first video eyeglasses are connected with the video eyeglasses of user terminal for the remote control of connection
In any one.
First video eyeglasses forward the operational order to the aircraft.
In some feasible embodiments, as shown in figure 3, at least two terminals are specifically as follows at least one remote control
With at least two video eyeglasses.
Optionally, at least one remote control, at least one remote control is connected with user terminal.
Wherein, as shown in Figures 2 and 3, it is described to regard in the case where at least two terminals include at least two video eyeglasses
Frequency glasses can carry out code check handover operation when receiving packet (such as view data) that aircraft is sent, i.e.,：It is described to fly
Row device sends packet to the video eyeglasses.
The video eyeglasses obtain downlink reception parameter when receiving the packet, and the downlink reception parameter includes
One or both of signal to noise ratio snr and BLER(block error rate) BLER.
The video eyeglasses judge whether the downlink reception parameter meets to carry out between default at least two code check
The switching condition of switching.
The video eyeglasses are receiving the process data packet when the downlink reception parameter meets the switching condition
In, switched between default at least two code check.
The video eyeglasses send institute when the downlink reception parameter is unsatisfactory for the switching condition, to the aircraft
State the notice that video eyeglasses can not switch between default at least two code check.
Meanwhile aircraft can also carry out code check and/or modulation methods when sending packet at least two video eyeglasses
The adjustment of formula, i.e.,：
The aircraft receives at least two video eyeglasses and sends image transmitting feedback signal, and according to it is described at least
The image transmitting feedback signal of two video eyeglasses and the quantity of at least two video eyeglasses, are adjusted to the video eyeglasses
Code check and/or modulation system during transmission packet, adaptive updates code check.
Wherein, as shown in Figures 2 and 3, in the case where at least two terminals include at least two video eyeglasses, at least two
The negotiation to one or more control authorities of aircraft can be realized between individual video eyeglasses.Between at least two video eyeglasses
In the following manner can be included to the negotiation mode of one or more control authorities of aircraft：
Mode one, establishing between at least two video eyeglasses has communication connection, and communication connection can be specifically wireless
Connect (such as bluetooth, Wi-Fi etc.) or wired connection (such as USB etc.), acquisition request aircraft it is one or more
The acquisition that the video eyeglasses of control authority broadcast remote control to other video eyeglasses is asked, i.e.,：At least two video eyeglasses
In other video eyeglasses broadcast of first video eyeglasses at least two video eyeglasses to one of the aircraft
Or the acquisition request of multiple control authority, and report described obtain to ask to the aircraft.
Currently the second video eyeglasses with one or more control authorities exist at least two video eyeglasses
After receiving the acquisition request, operated if receiving for the confirmation for obtaining request, to aircraft transmission
For the acknowledgement notification for obtaining request.
The aircraft is asked successfully to the acquisition of first video eyeglasses feedback, and is broadcasted described one or more
Control authority is changed to all notices of first video eyeglasses.
Mode two, the video eyeglasses of one or more control authorities of acquisition request aircraft report acquisition please to aircraft
Ask, obtain request from aircraft to the video eyeglasses forwarding currently with one or more control authorities, aircraft record has winged
Each control authority of row device and the attaching information of video eyeglasses, for example, control authority and video eyeglasses mark can be established
Mapping table, it can determine which video eyeglasses institute is a certain item or multiple control authority currently belong to by inquiring about mapping table
Have, i.e.,：The first video eyeglasses at least two video eyeglasses report one to the aircraft to the aircraft
Or the acquisition request of multiple control authority.
The aircraft at least two video eyeglasses currently with one or more control authorities the
The forwarding of two video eyeglasses is described to obtain request.
Second video eyeglasses obtain request really after the acquisition request is received, if receiving for described
Recognize operation, then sent to the aircraft for the acknowledgement notification for obtaining request.
The aircraft is asked successfully to the acquisition of first video eyeglasses feedback, and is broadcasted described one or more
Control authority is changed to all notices of first video eyeglasses.
Optionally, at least one remote control is specifically as follows at least two remote controls.
Optionally, can be realized to one or more control authorities of the aircraft between at least two terminal
Negotiation and/or the menu setting of at least two video eyeglasses.
Wherein, the negotiation mode of one or more control authorities of aircraft can be wrapped between at least two terminal
Include in the following manner：
Mode one, establishing between at least two terminal has communication connection, and communication connection can be specifically wireless connection
(such as bluetooth, Wireless Fidelity Wi-Fi etc.) or wired connection (such as general-purpose serial bus USB etc.), acquisition request flies
The acquisition that the terminal of one or more control authorities of row device broadcasts remote control to other-end is asked, i.e.,：Described at least two
Other-end of the first terminal at least two terminal in terminal broadcasts one or more controls to the aircraft
The acquisition request of authority processed, and report described obtain to ask to the aircraft.
Currently there is the second terminal of one or more control authorities receiving at least two terminal
After stating acquisition request, operate for the confirmation for obtaining request if receiving, sent to the aircraft for described
Obtain the acknowledgement notification of request.
The aircraft is asked successfully to the acquisition of first terminal feedback, and broadcasts one or more controls
Permission modification is all notices of the first terminal.
Mode two, the video eyeglasses of one or more control authorities of acquisition request aircraft report acquisition please to aircraft
Ask, obtain request from aircraft to the video eyeglasses forwarding currently with one or more control authorities, aircraft record has winged
Each control authority of row device and the attaching information of video eyeglasses, for example, control authority and video eyeglasses mark can be established
Mapping table, it can determine which video eyeglasses institute is a certain item or multiple control authority currently belong to by inquiring about mapping table
Have, i.e.,：First terminal at least two terminal reports one or more controls to the aircraft to the aircraft
The acquisition request of authority processed.
The aircraft currently has the second end of one or more control authorities at least two terminal
End forwarding is described to obtain request.
The second terminal is grasped after the acquisition request is received if receiving for the confirmation for obtaining request
Make, then sent to the aircraft for the acknowledgement notification for obtaining request.
The aircraft is asked successfully to the acquisition of first terminal feedback, and broadcasts one or more controls
Permission modification is all notices of the first terminal.
Wherein, communication connection is established between at least one remote control and at least two video eyeglasses, by distant
Menu setting can be carried out to video eyeglasses by controlling device, i.e.,：The first video eyeglasses at least two video eyeglasses receive institute
State the menu setting instruction that the first remote control at least one remote control is sent.
First video eyeglasses respond the menu setting instruction and the menu on first video eyeglasses are set
Put.
Optionally, at least one remote control, at least one remote control is connected with user terminal, and described at least one
Communication connection is established between individual remote control and at least two video eyeglasses, communication connection can be specifically wireless connection (example
Such as bluetooth, Wi-Fi) or wired connection (such as USB etc.), user terminal can by the remote control that is connected to
Aircraft sends operational order, i.e.,：The operation that the user terminal that first remote control described in first remote control connects is sent refers to
Order, first remote control is any one being connected with the remote control of user terminal.
First remote control forwards the operational order to the aircraft.
In some feasible embodiments, as shown in figure 4, at least two terminal is at least two remote controls.
Optionally, one or more control authorities to the aircraft can be realized between at least two remote control
Negotiation and/or the master remote controller authority negotiation, can also have identical control between certain at least two remote control
Authority, coaching mode and student's pattern can also be set between at least two remote controls, it is allowed to which coach's remote control band is at least
Two student's remote controls.In regulation allowed band, at least two remote controls can complete over the horizon relay flight.
Wherein, at least two remote control can include in the following manner to the negotiation mode of master remote controller authority：
Mode one, establishing between at least two remote control has communication connection, and communication connection can wirelessly be connected
Connect (such as bluetooth, Wireless Fidelity Wi-Fi etc.) or wired connection (such as general-purpose serial bus USB etc.), acquisition request
The remote control of master remote controller authority is broadcasted to other remote controls and obtains request, i.e.,：First at least two remote control is distant
The acquisition request of other remote controls broadcast master remote controller authority of the device at least two remote control is controlled, and to the flight
Device reports described obtain to ask.
Current the second remote control as master remote controller is receiving the acquisition request at least two remote control
Afterwards, the confirmation asked operation is obtained for described if receiving, is sent to the aircraft and obtain what is asked for described
Acknowledgement notification.
The aircraft is asked successfully to the acquisition of first remote control feedback, and is broadcasted master remote controller and be changed to institute
State the notice of the first remote control.
Mode two, the remote control of acquisition request master remote controller authority report acquisition to ask to aircraft, from aircraft to working as
The preceding remote control as master remote controller obtains request, and aircraft records the attaching information for having master remote controller authority and remote control, example
Such as, the mapping table of master remote controller authority and remote control identification can be established, can determine that master is distant by inquiring about mapping table
Control device authority currently belongs to which remote control owns, i.e.,：The first remote control at least two remote control is to the flight
Device reports the acquisition of master remote controller authority to ask.
The aircraft is at least two remote control described in current the second remote control forwarding as master remote controller
Obtain request.
Second remote control is after the acquisition request is received, if receiving for the confirmation for obtaining request
Operation, then sent to the aircraft for the acknowledgement notification for obtaining request.
The aircraft is asked successfully to the acquisition of first remote control feedback, and is broadcasted master remote controller and be changed to institute
State the notice of the first remote control.
Wherein, at least two remote control can be with to the negotiation mode of one or more control authorities of the aircraft
Including in the following manner：
Mode one, establishing between at least two remote control has communication connection, and communication connection can wirelessly be connected
Connect (such as bluetooth, Wireless Fidelity Wi-Fi etc.) or wired connection (such as general-purpose serial bus USB etc.), acquisition request
The remote control of one or more control authorities of aircraft is broadcasted to other remote controls and obtains request, i.e.,：Described at least two is distant
Control other remote controls broadcast of the first remote control in device at least two remote control to one of the aircraft or
The acquisition request of multiple control authority, and report described obtain to ask to the aircraft.
Currently the second remote control with one or more control authorities is receiving at least two remote control
To after the acquisition request, operate for the confirmation for obtaining request if receiving, be directed to aircraft transmission
The acknowledgement notification for obtaining request.
The aircraft is asked successfully to the acquisition of first remote control feedback, and broadcasts one or more controls
Permission modification processed is all notices of first remote control.
Mode two, the remote control of one or more control authorities of acquisition request aircraft report acquisition please to aircraft
Ask, obtain request from aircraft to the remote control forwarding currently with one or more control authorities, aircraft record has flight
Each control authority of device and the attaching information of remote control, for example, can establish, control authority is corresponding with remote control identification to close
It is table, can determine that a certain item or multiple control authority currently belongs to which remote control owns by inquiring about mapping table, i.e.,：Institute
State the first remote control at least two remote controls and one or more controls to the aircraft are reported to the aircraft
The acquisition request of limit.
The aircraft currently has the second of one or more control authorities at least two remote control
Remote control forwarding is described to obtain request.
Second remote control is after the acquisition request is received, if receiving for the confirmation for obtaining request
Operation, then sent to the aircraft for the acknowledgement notification for obtaining request.
The aircraft is asked successfully to the acquisition of first remote control feedback, and broadcasts one or more controls
Permission modification processed is all notices of first remote control.
Optionally, at least two remote control, at least one remote control is connected with user terminal, and user terminal can
To send operational order to aircraft by the remote control being connected to, i.e.,：First remote control described in first remote control connects
User terminal send operational order, first remote control is any one being connected with the remote control of user terminal.
First remote control forwards the operational order to the aircraft.
Flight control system in the embodiment of the present application, including aircraft and at least two terminals, at least two terminals
It can be appointing at least two remote controls, at least two video eyeglasses, at least one remote control and at least two video eyeglasses
Meaning is a kind of, and the negotiation of one or more control authorities of aircraft can be carried out between video eyeglasses, can be entered between remote control
The negotiation of one or more control authorities of row aircraft and the negotiation of master remote controller authority, and video eyeglasses may also participate in
The negotiation of one or more control authorities of the aircraft carried out between remote control and the negotiation of master remote controller authority, aircraft
Versatile and flexible with the connected mode of remote control and video eyeglasses, also more flexibly, scalability is strong for the control of aircraft.
Referring to Fig. 10, the schematic flow sheet of another flying vehicles control method provided for the embodiment of the present application.This reality
The flying vehicles control method described in example is applied, applied to flight control system, the flight control system includes flight
Device and at least two terminals, methods described include：
S201, aircraft and terminal, which are established, to be communicated to connect.
S202, the terminal and at least two terminals, which are established, to be communicated to connect.
Wherein, the terminal completes reception to view data and/or forwarding and/or display, running state data
Receive and/or forwarding and/or display, the reception of exercise data and/or forwarding and/or display, the reception of electric quantity data and/or turn
Hair and/or display, the flight control to the aircraft, cradle head control, shoot control, to remote control setting feed back, it is described
One kind or more in the negotiation of one or more control authorities of aircraft, the negotiation of master remote controller authority and link signalling interaction
Kind.
Wherein, one or more control authorities of the aircraft include flight control authority, cradle head control authority and bat
The one or more taken the photograph in control authority.The communication connection that the aircraft is established with the terminal can wirelessly be connected
Connect (such as bluetooth, Wi-Fi etc.), the communication connection of the terminal and the foundation of at least two terminals can be specifically wireless connection
(such as bluetooth, Wi-Fi etc.) or wired connection (such as USB etc.).
Optionally, at least two terminal is at least two video eyeglasses or at least two remote controls, and at least two regard
Frequency glasses, for providing FPV visual experiences, at least two remote controls, for controlling aircraft simultaneously at least two users
Flight.
Wherein, at least two terminal can realize one or more controls to the aircraft by the terminal
The negotiation of authority processed, negotiation mode can include in the following manner：
Mode one, the terminal of one or more control authorities of acquisition request aircraft is sent to terminal obtains request,
Report acquisition to ask from terminal to aircraft, from aircraft by terminal to currently having one or more control authorities
Terminal forwarding obtains request, and aircraft record has the attaching information of each control authority and terminal of aircraft, for example, can build
The mapping table of vertical control authority and terminal iidentification, a certain item or multiple control authority is can determine that by inquiring about mapping table
Currently belong to which terminal owns, i.e.,：The first terminal that the terminal receives at least two terminal send to institute
The acquisition request of one or more control authorities of aircraft is stated, and reports described obtain to ask to the aircraft.
The aircraft currently has one or more controls at least two terminal by the terminal
The second terminal forwarding of authority processed is described to obtain request.
The second terminal is after the acquisition forwarded by the terminal request is received, if receiving for institute
The confirmation operation for obtaining request is stated, then is sent to the aircraft by the terminal and led to for the confirmation for obtaining request
Know.
The aircraft feeds back the acquisition by the terminal to the first terminal asks successfully, and described in broadcast
One or more control authorities are changed to all notices of the first terminal.
Mode two, establishing between at least two terminal has communication connection, and communication connection can be specifically wireless connection
(such as bluetooth, Wireless Fidelity Wi-Fi etc.) or wired connection (such as general-purpose serial bus USB etc.), acquisition request flies
The terminal of one or more control authorities of row device is broadcasted to other-end and obtains request, i.e.,：In at least two terminal
Other-end of the first terminal at least two terminal is broadcasted to one or more control authorities of the aircraft
Request is obtained, and reports described obtain to ask to the aircraft by the terminal.
Currently there is the second terminal of one or more control authorities receiving at least two terminal
After stating acquisition request, operated if receiving for the confirmation for obtaining request, by the terminal to the flight
Device is sent for the acknowledgement notification for obtaining request.
The aircraft feeds back the acquisition by the terminal to the first terminal asks successfully, and described in broadcast
One or more control authorities are changed to all notices of the first terminal.
In some feasible embodiments, as shown in fig. 6, at least two terminal is at least two remote controls, institute
State negotiation and/or the master remote controller power that can be realized between at least two remote controls to one or more control authorities of aircraft
The negotiation of limit.There can also be identical control authority between certain at least two remote control, between at least two remote controls 104
Coaching mode and student's pattern can also be set, it is allowed to a student's remote control of coach's remote control band at least two.Permit in regulation
Perhaps in the range of, at least two remote controls can complete over the horizon relay flight.In at least two remote control, at least one
Remote control is connected with user terminal, can be provided with using APP on user terminal, and remote control is turned to user terminal by APP
The view data of hair, the Flight Condition Data of aircraft, electric quantity data etc. are shown.
Wherein, at least two remote control can include in the following manner to the negotiation mode of master remote controller authority：
Mode one, the remote control of acquisition request master remote controller authority send to terminal and obtain request, from terminal to flying
Row device reports acquisition to ask, and obtains request from aircraft to the current remote control forwarding as master remote controller, aircraft record has
The attaching information of master remote controller authority and remote control, for example, can establish, master remote controller authority is corresponding with remote control identification to close
It is table, can determine that master remote controller authority currently belongs to which remote control owns by inquiring about mapping table, i.e.,：The terminal
Receive the acquisition request for the master remote controller authority that the first remote control at least two remote control is sent, and to the flight
Device reports described obtain to ask.
The aircraft is currently used as the second of master remote controller by the terminal at least two remote control
Remote control forwarding is described to obtain request.
Second remote control is directed to after the acquisition forwarded by the terminal request is received if receiving
The confirmation operation for obtaining request, then sent for the confirmation for obtaining request by the terminal to the aircraft
Notice.
The aircraft feeds back the acquisition by the terminal to first remote control asks successfully, and broadcasts master
Remote control is changed to the notice of first remote control.
Mode two, establishing between at least two remote control has communication connection, and communication connection can wirelessly be connected
Connect (such as bluetooth, Wi-Fi etc.) or wired connection (such as USB etc.), the remote control of acquisition request master remote controller authority
Broadcasted to other remote controls and obtain request, i.e.,：The first remote control at least two remote control is distant to described at least two
Control the acquisition request of other described remote controls broadcast master remote controller authorities in device, and by the terminal to the aircraft
Described obtain is reported to ask.
Current the second remote control as master remote controller is receiving the acquisition request at least two remote control
Afterwards, operated if receiving for the confirmation for obtaining request, sent and be directed to the aircraft by the terminal
The acknowledgement notification for obtaining request.
The aircraft feeds back the acquisition by the terminal to first remote control asks successfully, and broadcasts master
Remote control is changed to the notice of first remote control.
In some feasible embodiments, as shown in fig. 7, at least two terminal is at least two video eyeglasses,
The video eyeglasses can carry out code check when receiving packet (such as view data) of aircraft transmission by terminal and cut
Operation is changed, i.e.,：The terminal receives the packet that the aircraft is sent.
The terminal forwards the packet to the video eyeglasses.
The video eyeglasses obtain downlink reception parameter when receiving the packet, and judge the downlink reception ginseng
Whether number meets the switching condition switched between default at least two code check, and the downlink reception parameter includes noise
Than one or both of SNR and BLER(block error rate) BLER.
The video eyeglasses are receiving the process data packet when the downlink reception parameter meets the switching condition
In, switched between default at least two code check.
The video eyeglasses send institute when the downlink reception parameter is unsatisfactory for the switching condition, to the terminal
State the notice that video eyeglasses can not switch between default at least two code check.
The terminal to the aircraft forward the video eyeglasses can not default at least two code check it
Between the notice that switches over.
Meanwhile aircraft can also carry out the adjustment of code check and/or modulation system when sending packet to terminal,
I.e.：
The aircraft receives the image transmitting feedback signal of at least two video eyeglasses of the terminal forwarding,
And the image transmitting feedback signal of at least two video eyeglasses and the quantity of at least two video eyeglasses, adjust to institute
State terminal send packet when code check and/or modulation system.
In some feasible embodiments, as shown in figure 8, at least two terminal is at least two videos eye
Mirror, the aircraft are also established with least one remote control and communicated to connect, and communication connection can be specifically that wireless connection is (such as blue
Tooth, Wi-Fi etc.).
Wherein, terminal realization pair can be passed through between at least two video eyeglasses and at least one remote control
The negotiation of one or more control authorities of aircraft.Aircraft records each control authority and video eyeglasses for having aircraft
And/or the attaching information of remote control, for example, control authority and video eyeglasses mark and/or pair of remote control identification can be established
Answer relation table, by inquire about mapping table can determine that a certain item or multiple control authority currently belong to which video eyeglasses or which
Individual remote control owns, including following two situations：
Situation one, one or more control authorities of aircraft described in remote control acquisition request, current video glasses have
One or more control authorities, then：The first remote control at least one remote control reports pair to the aircraft
The acquisition request of one or more control authorities of the aircraft.
The aircraft currently has described one or more at least two video eyeglasses by the terminal
The first video eyeglasses forwarding of item control authority is described to obtain request.
First video eyeglasses are after the acquisition forwarded by the terminal request is received, if receiving pin
The confirmation for obtaining request is operated, then is sent by the terminal to the aircraft and obtains request really for described
Recognize notice.
The aircraft is asked successfully to the acquisition of first remote control feedback, and broadcasts one or more controls
Permission modification processed is all notices of first remote control.
Situation two, one or more control authorities of aircraft described in video eyeglasses acquisition request, current remote control have
One or more control authorities, then：The terminal receives the first video eyeglasses at least two video eyeglasses
The acquisition request of one or more control authorities of the aircraft sent, and report the acquisition please to the aircraft
Ask.
The aircraft currently has the first of one or more control authorities at least one remote control
Remote control forwarding is described to obtain request.
First remote control is after the acquisition request is received, if receiving for the confirmation for obtaining request
Operation, then sent to the aircraft for the acknowledgement notification for obtaining request.
The aircraft feeds back the acquisition by the terminal to first video eyeglasses asks successfully, and broadcasts
One or more control authorities are changed to all notices of first video eyeglasses.
Optionally, each remote control at least one remote control is established with the terminal and communicated to connect,
Communication connection can be specifically wireless connection (such as bluetooth, Wi-Fi etc.) or wired connection (such as USB etc.).
Wherein, menu setting can be carried out to video eyeglasses by terminal by remote control, i.e.,：Described at least two regard
The first remote control that the first video eyeglasses in frequency glasses are received at least one remote control is sent by the terminal
Menu setting instruction.
First video eyeglasses respond the menu setting instruction and the menu on first video eyeglasses are set
Put.
Optionally, at least one remote control is a remote control.
Wherein, can be realized between at least two video eyeglasses and one remote control by terminal to flight
The negotiation of one or more control authorities of device.Aircraft record have each control authority of aircraft and video eyeglasses and/or
The attaching information of remote control, for example, control authority and video eyeglasses mark and/or the corresponding relation of remote control identification can be established
Table, it can determine that a certain item or multiple control authority currently belongs to which video eyeglasses or which remote control by inquiring about mapping table
Device owns, including following two situations：
Situation one, one or more control authorities of aircraft, current video described in one remote control acquisition request
Glasses have one or more control authorities, then：One remote control is sent to the aircraft to the terminal
One or more control authorities acquisition request, and to the aircraft report it is described obtain ask.
The terminal is asked to described obtain of at least two video eyeglasses broadcast.
Currently the first video eyeglasses with one or more control authorities exist at least two video eyeglasses
Receive it is described obtain request after, if receive for it is described obtain request confirmation operate, by the terminal to
The aircraft is sent for the acknowledgement notification for obtaining request.
The aircraft is asked successfully to the acquisition of one remote control feedback, and broadcasts one or more controls
Permission modification processed is all notices of one remote control.
Situation two, one or more control authorities of aircraft described in video eyeglasses acquisition request are presently described one distant
Control utensil has one or more control authorities, then：The terminal receives first at least two video eyeglasses
The acquisition request for one or more control authorities to the aircraft that video eyeglasses are sent, and report institute to the aircraft
State acquisition request.
Other video eyeglasses broadcast of the terminal into one remote control and at least two video eyeglasses
It is described to obtain request.
Currently one remote control with one or more control authorities is receiving the acquisition request
Afterwards, operated if receiving for the confirmation for obtaining request, sent to the aircraft and obtain request really for described
Recognize notice.
The aircraft feeds back the acquisition by the terminal to first video eyeglasses asks successfully, and broadcasts
One or more control authorities are changed to all notices of first video eyeglasses.
Optionally, at least one remote control is at least two remote controls.
Wherein, at least two remote control can complete the negotiation to one or more control authorities of the aircraft
And/or the negotiation of the master remote controller authority.
Wherein, at least two remote control can include in the following manner to the negotiation mode of master remote controller authority：
Mode one, establishing between at least two remote control has communication connection, and communication connection can wirelessly be connected
Connect (such as bluetooth, Wi-Fi etc.) or wired connection (such as USB etc.), the remote control of acquisition request master remote controller authority
Broadcasted to other remote controls and obtain request, i.e.,：The first remote control at least two remote control is distant to described at least two
The acquisition request of other remote controls broadcast master remote controller authority in device is controlled, and reports described obtain to ask to the aircraft.
Current the second remote control as master remote controller is receiving the acquisition request at least two remote control
Afterwards, the confirmation asked operation is obtained for described if receiving, is sent to the aircraft and obtain what is asked for described
Acknowledgement notification.
The aircraft is asked successfully to the acquisition of first remote control feedback, and is broadcasted master remote controller and be changed to institute
State the notice of the first remote control.
Mode two, the remote control of acquisition request master remote controller authority report acquisition to ask to aircraft, from aircraft to working as
The preceding remote control as master remote controller obtains request, and aircraft records the attaching information for having master remote controller authority and remote control, example
Such as, the mapping table of master remote controller authority and remote control identification can be established, can determine that master is distant by inquiring about mapping table
Control device authority currently belongs to which remote control owns, i.e.,：The first remote control at least two remote control is to the flight
Device reports the acquisition of master remote controller authority to ask.
The aircraft is at least two remote control described in current the second remote control forwarding as master remote controller
Obtain request.
Second remote control is after the acquisition request is received, if receiving for the confirmation for obtaining request
Operation, then sent to the aircraft for the acknowledgement notification for obtaining request.
The aircraft is asked successfully to the acquisition of first remote control feedback, and is broadcasted master remote controller and be changed to institute
State the notice of the first remote control.
Wherein, at least two remote control can be with to the negotiation mode of one or more control authorities of the aircraft
Including in the following manner：
Mode one, establishing between at least two remote control has communication connection, and communication connection can wirelessly be connected
Connect (such as bluetooth, Wireless Fidelity Wi-Fi etc.) or wired connection (such as general-purpose serial bus USB etc.), acquisition request
The remote control of one or more control authorities of aircraft is broadcasted to other remote controls and obtains request, i.e.,：Described at least two is distant
Control other remote controls broadcast of the first remote control in device at least two remote control to one of the aircraft or
The acquisition request of multiple control authority, and report described obtain to ask to the aircraft.
Currently the second remote control with one or more control authorities is receiving at least two remote control
To after the acquisition request, operate for the confirmation for obtaining request if receiving, be directed to aircraft transmission
The acknowledgement notification for obtaining request.
The aircraft is asked successfully to the acquisition of first remote control feedback, and broadcasts one or more controls
Permission modification processed is all notices of first remote control.
Mode two, the remote control of one or more control authorities of acquisition request aircraft report acquisition please to aircraft
Ask, obtain request from aircraft to the remote control forwarding currently with one or more control authorities, aircraft record has flight
Each control authority of device and the attaching information of remote control, for example, can establish, control authority is corresponding with remote control identification to close
It is table, can determine that a certain item or multiple control authority currently belongs to which remote control owns by inquiring about mapping table, i.e.,：Institute
State the first remote control at least two remote controls and one or more controls to the aircraft are reported to the aircraft
The acquisition request of limit.
The aircraft currently has the second of one or more control authorities at least two remote control
Remote control forwarding is described to obtain request.
Second remote control is after the acquisition request is received, if receiving for the confirmation for obtaining request
Operation, then sent to the aircraft for the acknowledgement notification for obtaining request.
The aircraft is asked successfully to the acquisition of first remote control feedback, and broadcasts one or more controls
Permission modification processed is all notices of first remote control.
Wherein, terminal realization pair can be passed through between at least two video eyeglasses and at least two remote control
The negotiation of one or more control authorities of aircraft.Aircraft records each control authority and video eyeglasses for having aircraft
And/or the attaching information of remote control, for example, control authority and video eyeglasses mark and/or pair of remote control identification can be established
Answer relation table, by inquire about mapping table can determine that a certain item or multiple control authority currently belong to which video eyeglasses or which
Individual remote control owns, including following two situations：
Situation one, one or more control authorities of aircraft described in remote control acquisition request, current video glasses have
One or more control authorities, then：The first remote control at least two remote control is remotely controlled to described at least two
The acquisition of other described remote controls and terminal broadcast to one or more control authorities of the aircraft in device please
Ask, and report described obtain to ask to the aircraft.
The terminal is asked to described obtain of at least two video eyeglasses broadcast.
Currently the first video eyeglasses with one or more control authorities exist at least two video eyeglasses
Receive it is described obtain request after, if receive for it is described obtain request confirmation operate, by the terminal to
The aircraft is sent for the acknowledgement notification for obtaining request.
The aircraft is asked successfully to the acquisition of first remote control feedback, and broadcasts one or more controls
Permission modification processed is all notices of first remote control.
Situation two, one or more control authorities of aircraft described in video eyeglasses acquisition request, current remote control have
One or more control authorities, then：The terminal receives the first video eyeglasses at least two video eyeglasses and sent out
The acquisition request for the one or more control authorities to the aircraft sent, and report the acquisition please to the aircraft
Ask.
Other video eyeglasses of the terminal at least two remote control and at least two video eyeglasses
Described obtain is broadcasted to ask.
Currently the first remote control with one or more control authorities is receiving at least two remote control
To after the acquisition request, operate for the confirmation for obtaining request if receiving, be directed to aircraft transmission
The acknowledgement notification for obtaining request.
The aircraft feeds back the acquisition by the terminal to first video eyeglasses asks successfully, and broadcasts
One or more control authorities are changed to all notices of first video eyeglasses.
Flight control system in the embodiment of the present application, including aircraft and terminal, terminal can be with least two
Any one foundation in individual remote control, at least two video eyeglasses, at least one remote control and at least two video eyeglasses is logical
Letter connects, and can pass through the association that terminal carries out one or more control authorities of aircraft between at least two video eyeglasses
Business, negotiation and the master of one or more control authorities of aircraft can be carried out between at least two remote controls by terminal
The negotiation of remote control authority.Communicated to connect in addition, aircraft can also be established with least one remote control, at least one remote control
Between can also directly carry out or pass through terminal carry out aircraft one or more control authorities negotiation and master it is distant
The negotiation of device authority is controlled, it is versatile and flexible so as to the connected mode of aircraft and terminal, remote control and video eyeglasses, aircraft
Also more flexibly, scalability is strong for control.
Figure 11 is referred to, a kind of structural representation of the terminal provided for the embodiment of the present application.Described in the present embodiment
Terminal, including：Communicator 1000, processor 2000, above-mentioned processor 2000 are connected with communicator 1000.
Wherein, above-mentioned communicator 1000 is specifically as follows radio-frequency transmissions/receiver or radio frequency chip, specifically, leads to
T unit 1000 can include the transmitting path (Transmitter, TX) that integrates and receiver (Receiver,
RX).Above-mentioned processor 2000 is specifically as follows microcontroller, BBP, baseband chip, digital signal processor
(Digital Signal Processor, DSP) or including BBP and application processor at interior on-chip system (SOC)
Deng.Above-mentioned memory 3000 is the memory device of terminal, for depositing program and data.It is understood that storage herein
Device 3000 can be high-speed RAM memory or non-labile memory (non-volatile memory), such as
At least one magnetic disk storage；It optionally can also be at least one storage device for being located remotely from aforementioned processor 2000.
Above-mentioned memory 3000, for storing batch processing code, above-mentioned processor 2000 calls to be deposited in memory 3000
The program code of storage, perform following operation：
Communicator 1000, communicated to connect for being established with aircraft.
Processor 2000, for carrying out data interaction with the aircraft by the communication connection.
In some feasible embodiments, the processor 2000, it is additionally operable to by the communicator 1000, Xiang Qi
He asks in acquisition of the terminal broadcast to one or more control authorities of the aircraft, and reports described obtain to the aircraft
Take request.
The communicator 1000, it is additionally operable to receive the acquisition request success notification of the aircraft feedback.
In some feasible embodiments, the processor 2000, it is additionally operable to by the communicator 1000, to institute
Stating aircraft reports the acquisition to one or more control authorities of the aircraft to ask.
The communicator 1000, it is additionally operable to receive the acquisition request success notification of the aircraft feedback.
In some feasible embodiments, the terminal is video eyeglasses.
In some feasible embodiments, the video eyeglasses are connected with a remote control.
In some feasible embodiments, the communicator 1000, it is additionally operable to receive the video eyeglasses connection
The acquisition request for one or more control authorities to the aircraft that one remote control is sent.
The processor 2000, it is additionally operable to by the communicator 1000, the acquisition is broadcasted to other video eyeglasses
Request, and report described obtain to ask to the aircraft.
The communicator 1000, the acquisition for being additionally operable to receive the aircraft feedback are asked successfully.
The communicator 1000, it is additionally operable to ask successfully to the acquisition of one remote control feedback, and forwards institute
State notice.
In some feasible embodiments, the communicator 1000, it is additionally operable to receive the video eyeglasses connection
The acquisition request for one or more control authorities to the aircraft that one remote control is sent.
The processor 2000, it is additionally operable to by the communicator 1000, reports the acquisition please to the aircraft
Ask.
The communicator 1000, the acquisition for being additionally operable to receive the aircraft feedback are asked successfully.
The communicator 1000, it is additionally operable to ask successfully to the acquisition of one remote control feedback, and forwards institute
State notice.
In some feasible embodiments, the communicator 1000, it is additionally operable to receive the video eyeglasses connection
The acquisition request for the master remote controller authority that one remote control is sent.
The processor 2000, it is additionally operable to by the communicator 1000, the acquisition is broadcasted to other video eyeglasses
Request, and report described obtain to ask to the aircraft.
The communicator 1000, it is additionally operable to receive the acquisition request success notification of the aircraft feedback.
The communicator 1000, it is additionally operable to ask successfully to the acquisition of one remote control feedback, and forwards institute
State notice.
In some feasible embodiments, the communicator 1000, it is additionally operable to receive carry under the video eyeglasses
One remote control send master remote controller authority acquisition request.
The processor 2000, it is additionally operable to by the communicator 1000, reports the acquisition please to the aircraft
Ask.
The communicator 1000, it is additionally operable to receive the acquisition request success notification of the aircraft feedback.
The communicator 1000, it is additionally operable to ask successfully to the acquisition of one remote control feedback, and forwards institute
State notice.
In some feasible embodiments, the processor 2000, it is additionally operable to, by the communicator 1000, receive
The menu setting instruction that one remote control is sent.
The processor 2000, it is additionally operable to respond the menu setting instruction, the menu on the video eyeglasses is carried out
Set.
In some feasible embodiments, the terminal is remote control.
In some feasible embodiments, the processor 2000, it is additionally operable to by the communicator 1000, Xiang Qi
The acquisition request of his remote control broadcast master remote controller authority, and report described obtain to ask to the aircraft.
The communicator 1000, the acquisition for being additionally operable to receive the aircraft feedback are asked successfully.
In some feasible embodiments, the processor 2000, it is additionally operable to by the communicator 1000, to institute
Stating aircraft reports the acquisition of master remote controller authority to ask.
The communicator 1000, it is additionally operable to receive the acquisition request success notification of the aircraft feedback.
In some feasible embodiments, the communicator 1000, be additionally operable to terminal, the terminal and its
One or more control authorities request of aircraft described in a kind of broadcast transmission in his remote control.
The communicator 1000, the acquisition for being additionally operable to receive the aircraft feedback are asked successfully.
In some feasible embodiments, the remote control is connected with user terminal,
The processor 2000, it is additionally operable to by the communicator 1000, data interaction is carried out with the user terminal.
In some feasible embodiments, the communicator 1000, it is additionally operable to receive the number that the aircraft is sent
According to bag.
The processor 2000, be additionally operable to obtain downlink reception parameter, the downlink reception parameter include signal to noise ratio snr and
One or both of BLER(block error rate) BLER.
The processor 2000, it is additionally operable to judge whether the downlink reception parameter meets in default at least two code check
Between the switching condition that switches over.
The processor 2000, it is additionally operable to when the downlink reception parameter meets the switching condition, described in reception
In process data packet, switched between default at least two code check.
The communicator 1000, it is additionally operable to when the downlink reception parameter is unsatisfactory for the switching condition, to described
Aircraft sends the notice that the video eyeglasses can not switch between default at least two code check.
In some feasible embodiments, the communicator 1000 is to establish to connect by terminal and the aircraft
Connect.
In the specific implementation, the communicator 1000 and processor 2000 described in the embodiment of the present application can perform the application
A kind of implementation for the terminal described in flight control system that embodiment provides, will not be repeated here.
In the embodiment of the present application, terminal directly establishes communication connection with aircraft, or is built by terminal and aircraft
Vertical communication connection, joint other-end complete negotiation and/or the master remote controller authority of one or more control authorities of aircraft
Negotiation, terminal can be specifically video eyeglasses or remote control, and the terminal being controlled to aircraft can carry out diversified group
Close so that the control of aircraft is more versatile and flexible.
Figure 12 is referred to, a kind of structural representation of the aircraft provided for the embodiment of the present application.Retouched in the present embodiment
The aircraft stated, including：Communicator 1000, flight controller 4000 are connected with communicator 1000.
Wherein, above-mentioned communicator 1000 is specifically as follows radio frequency reception/emitter or radio frequency chip, specifically, leads to
T unit 1000 can include the transmitting path (Transmitter, TX) that integrates and receiver (Receiver,
RX).Above-mentioned flight controller 4000 is specifically as follows microcontroller, BBP, baseband chip, digital signal processor
(Digital Signal Processor, DSP) or including BBP and application processor at interior on-chip system (SOC)
Deng.Above-mentioned memory 3000 is the memory device of aircraft, for depositing program and data.It is understood that depositing herein
Reservoir 3000 can be high-speed RAM memory or non-labile memory (non-volatile memory), example
Such as at least one magnetic disk storage；It optionally can also be at least one storage dress for being located remotely from foregoing flight controller 4000
Put.
Above-mentioned memory 3000, for storing batch processing code, above-mentioned flight controller 4000 calls memory 3000
The program code of middle storage, perform following operation：
Communicator 1000, communicated to connect for being established with least two terminals.
Flight controller 4000, for carrying out data interaction with least two terminal by the communication connection.
In some feasible embodiments, the communicator 1000, it is additionally operable to receive at least two terminal
One or more control authorities to the aircraft for reporting of first terminal acquisition request.
The communicator 1000, it is additionally operable to receive one currently at least two terminal with the aircraft
Or the acknowledgement notification for the acquisition request that the second terminal of multiple control authority is sent.
The flight controller 4000, it is additionally operable to respond the acknowledgement notification, by the communicator 1000, to described
First terminal feedback is described to obtain request success notification.
In some feasible embodiments, the communicator 1000, it is additionally operable to receive at least two terminal
First terminal send one or more control authorities to the aircraft acquisition request.
The communicator 1000, it is additionally operable to that at least two terminal currently there are one or more controls
The second terminal forwarding of authority is described to obtain request.
The communicator 1000, it is additionally operable to receive for the confirmation for obtaining request leading to for the second terminal transmission
Know.
The flight controller 4000, it is additionally operable to respond the acknowledgement notification, by the communicator, to described first
Terminal feedback is described to obtain request success notification.
In some feasible embodiments, the communicator 1000 of the aircraft establishes the described of communication connection
At least two terminals are to include at least two video eyeglasses.
In some feasible embodiments, the communicator 1000, it is additionally operable to receive at least two videos eye
The image transmitting feedback signal that mirror is sent.
The flight controller 4000, the described image transmission for being additionally operable to be sent according at least two video eyeglasses are anti-
The quantity of feedback signal and at least two video eyeglasses, adjust to code check during first video eyeglasses transmission packet
And/or modulation system.
In some feasible embodiments, the aircraft is established and connected by the video eyeglasses and a remote control
Connect.
In some feasible embodiments, the communicator 1000, it is additionally operable to receive at least two videos eye
The acquisition request for the master remote controller authority that the first video eyeglasses in mirror are sent, the acquisition request is by the first video eye
What the first remote control of mirror connection was sent to first video eyeglasses.
The communicator 1000, be additionally operable at least two video eyeglasses with it is current as master remote controller the
The second video eyeglasses forwarding of two remote controls connection is described to obtain request.
The communicator 1000, it is additionally operable to receive the pin that second remote control is sent by second video eyeglasses
To the acknowledgement notification for obtaining request.
The flight controller 4000, it is additionally operable to respond the acknowledgement notification, by first video eyeglasses to described
First remote control feedback is described to obtain request success notification.
In some feasible embodiments, the communicator 1000, it is additionally operable to receive at least two videos eye
The acquisition request for the master remote controller authority that the first video eyeglasses in mirror report, the acquisition request is by the first video eye
What the first remote control of mirror connection was sent to first video eyeglasses.
The communicator 1000, it is additionally operable to receive at least two video eyeglasses with current as master remote controller
The second video eyeglasses forwarding of second remote control connection obtains the acknowledgement notification asked for described.
The flight controller 4000, it is additionally operable to respond the acknowledgement notification, by the communicator 1000, passes through institute
State the first video eyeglasses and obtain request success notification to first remote control feedback is described.
In some feasible embodiments, the communicator 1000, it is additionally operable to receive at least two videos eye
The acquisition request for one or more control authorities to the aircraft that the first video eyeglasses in mirror are sent, the acquisition please
What Seeking Truth was sent from the first remote control that first video eyeglasses connect to first video eyeglasses.
The communicator 1000, it is additionally operable at least two video eyeglasses with currently having described one or more
The second video eyeglasses forwarding of the second remote control connection of item control authority is described to obtain request.
The communicator 1000, it is additionally operable to receive the pin that second remote control is sent by second video eyeglasses
To the acknowledgement notification for obtaining request.
The flight controller 4000, it is additionally operable to respond the acknowledgement notification, by the communicator 1000, passes through institute
State the first video eyeglasses and obtain request success notification to first remote control feedback is described.
In some feasible embodiments, the communicator 1000, it is additionally operable to receive at least two videos eye
The acquisition request for one or more control authorities to the aircraft that the first video eyeglasses in mirror report, the acquisition please
What Seeking Truth was sent from the first remote control that first video eyeglasses connect to first video eyeglasses.
The communicator 1000, be additionally operable to receive at least two video eyeglasses with currently have described one or
The second video eyeglasses forwarding of the second remote control connection of multiple control authority obtains the acknowledgement notification asked for described.
The flight controller 4000, it is additionally operable to respond the acknowledgement notification, by the communicator 1000, passes through institute
State the first video eyeglasses and obtain request success notification to first remote control feedback is described.
In some feasible embodiments, the communicator 1000 of the aircraft establishes the described of communication connection
At least two terminals are to include at least two remote controls.
In some feasible embodiments, the communicator 1000, it is additionally operable to receive at least two remote control
In the master remote controller authority that reports of the first remote control acquisition request.
The communicator 1000, be additionally operable to receive at least two remote control it is current as master remote controller second
What remote control was sent obtains the acknowledgement notification asked for described.
The flight controller 4000, it is additionally operable to respond the acknowledgement notification, by the communicator 1000, to described
First remote control feedback is described to obtain request success notification.
In some feasible embodiments, the communicator 1000, it is additionally operable to receive at least two remote control
In the master remote controller authority that reports of the first remote control acquisition request.
The communicator 1000, it is additionally operable at least two remote control current as the second distant of master remote controller
Described obtain of device forwarding is controlled to ask.
The communicator 1000, it is additionally operable to receive the confirmation for the acquisition request that second remote control is sent
Notice.
The flight controller 4000, it is additionally operable to respond the acknowledgement notification, by the communicator 1000, to described
First remote control feedback is described to obtain request success notification.
In some feasible embodiments, the communicator 1000 of the aircraft establishes the described of communication connection
At least two terminals are to include at least one remote control and at least two video eyeglasses.
In some feasible embodiments, the communicator 1000 of the aircraft passes through terminal and at least two
Individual video eyeglasses establish communication connection, and the communicator 1000 of the aircraft is also established with least one remote control to communicate
Connection.
In some feasible embodiments, the communicator 1000, it is additionally operable to receive at least one remote control
In the first remote control send one or more control authorities to the aircraft acquisition request.
The communicator 1000, it is additionally operable at least two video eyeglasses currently have by the terminal
The first video eyeglasses forwarding of one or more control authorities is described to obtain request.
The communicator 1000, is additionally operable to receive first video eyeglasses and is directed to institute by what the terminal was sent
State the acknowledgement notification for obtaining request.
The flight controller 4000, it is additionally operable to respond the acknowledgement notification, by the communicator 1000, to described
First remote control feedback is described to obtain request success notification.
In some feasible embodiments, the communicator 1000, it is additionally operable to receive at least two videos eye
The acquisition for one or more control authorities to the aircraft that the first video eyeglasses in mirror are reported by the terminal
Request.
The communicator 1000, it is additionally operable to that at least one remote control currently there are one or more controls
The first remote control forwarding of authority processed is described to obtain request.
The communicator 1000, it is additionally operable to receive the confirmation for the acquisition request that first remote control is sent
Notice.
The flight controller 4000, it is additionally operable to respond the acknowledgement notification, by the communicator 1000, passes through institute
State terminal and obtain request success notification to first video eyeglasses feedback is described.
In some feasible embodiments, at least one remote control is a remote control,
The communicator 1000, it is additionally operable to receive one or more to the aircraft that one remote control reports
The acquisition request of item control authority.
The communicator 1000, being additionally operable to receive at least two video eyeglasses currently has described one or more
First video eyeglasses of item control authority obtain the acknowledgement notification asked by what the terminal was sent for described.
The flight controller 4000, it is additionally operable to respond the acknowledgement notification, by the communicator 1000, to described
One remote control feedback is described to obtain request success notification.
In some feasible embodiments, at least one remote control is a remote control,
The communicator 1000, the first video eyeglasses for being additionally operable to receive at least two video eyeglasses pass through institute
State the acquisition request for one or more control authorities to the aircraft that terminal reports.
The communicator 1000, it is additionally operable to receive currently one distant with one or more control authorities
Control the acknowledgement notification for the acquisition request that device is sent.
The flight controller 4000, it is additionally operable to respond the acknowledgement notification, by the communicator 1000, passes through institute
State terminal and obtain request success notification to first video eyeglasses feedback is described.
In some feasible embodiments, at least one remote control is at least two remote controls,
The communicator 1000, the first remote control for being additionally operable to receive at least two remote control report to institute
State the acquisition request of one or more control authorities of aircraft.
The communicator 1000, being additionally operable to receive at least two video eyeglasses currently has described one or more
First video eyeglasses of item control authority obtain the acknowledgement notification asked by what the terminal was sent for described.
The flight controller 4000, it is additionally operable to by the communicator 1000, feeds back institute to first remote control
State acquisition request success notification.
In some feasible embodiments, at least one remote control is at least two remote controls,
The communicator 1000, the first video eyeglasses for being additionally operable to receive at least two video eyeglasses pass through institute
State the acquisition request for one or more control authorities to the aircraft that terminal reports.
The communicator 1000, it is additionally operable to receive at least two remote control currently with described one or more
What the first remote control of control authority was sent obtains the acknowledgement notification asked for described.
The flight controller 4000, it is additionally operable to respond the acknowledgement notification, by the communicator 1000, passes through institute
State terminal and obtain request success notification to first video eyeglasses feedback is described.
In the specific implementation, the communicator 1000 and flight controller 4000 described in the embodiment of the present application are executable originally
Apply for the implementation of the aircraft described in a kind of flight control system that embodiment provides, will not be repeated here.
In the embodiment of the present application, aircraft can be established with least two terminals and communicated to connect, and at least two terminals can be with
It is at least two video eyeglasses and/or at least two remote controls and/or terminal, the control realization for receiving at least two terminals flies
Row control, cradle head control, shooting control, and can participate in completing one or more controls that at least two terminals complete aircraft
The negotiation of authority and/or the negotiation of master remote controller authority so that the control of aircraft is more versatile and flexible, strengthens the reality of aircraft
The property used.
Figure 13 is referred to, the schematic flow sheet of another the flying vehicles control method provided for the embodiment of the present application.This reality
The flying vehicles control method described in example is applied, including：
S301, terminal and aircraft, which are established, to be communicated to connect.
S302, the terminal carry out data interaction by the communication connection with the aircraft.
In some feasible embodiments, methods described also includes：
The acquisition that the terminal is broadcasted to one or more control authorities of the aircraft to other-end is asked, and to
The aircraft reports described obtain to ask.
The terminal receives the acquisition request success notification of the aircraft feedback.
In some feasible embodiments, methods described also includes：
The acquisition that the terminal is sent to one or more control authorities of the aircraft to the aircraft is asked.
The terminal receives the acquisition request success notification of the aircraft feedback.
In some feasible embodiments, the terminal is video eyeglasses.
In some feasible embodiments, the video eyeglasses are connected with a remote control.
In some feasible embodiments, methods described also includes：
The terminal receives one to the aircraft that one remote control of the video eyeglasses connection is sent
Or the acquisition request of multiple control authority.
The terminal is asked to described obtain of other video eyeglasses broadcast, and reports the acquisition please to the aircraft
Ask.
The terminal receives the acquisition request success notification of the aircraft feedback.
The terminal obtains request success notification to the forwarding of one remote control is described.
In some feasible embodiments, methods described also includes：
The terminal receives one to the aircraft that one remote control of the video eyeglasses connection is sent
Or the acquisition request of multiple control authority.
The terminal reports described obtain to ask to the aircraft.
The terminal receives the acquisition request success notification of the aircraft feedback.
The terminal obtains request success notification to the forwarding of one remote control is described.
In some feasible embodiments, methods described also includes：
The acquisition for the master remote controller authority that one remote control that the terminal receives the video eyeglasses connection is sent
Request.
The terminal is asked to described obtain of other video eyeglasses broadcast, and reports the acquisition please to the aircraft
Ask.
The terminal receives the acquisition request success notification of the aircraft feedback.
The terminal obtains request success notification to the forwarding of one remote control is described.
In some feasible embodiments, methods described also includes：
The acquisition for the master remote controller authority that one remote control that the terminal receives the video eyeglasses connection is sent
Request.
The terminal reports described obtain to ask to the aircraft.
The terminal receives the acquisition request success notification of the aircraft feedback.
The terminal obtains request success notification to the forwarding of one remote control is described.
In some feasible embodiments, methods described also includes：
The terminal receives the setting instruction that one remote control is sent.
Instruction is set described in the terminal response, the video eyeglasses are configured.
In some feasible embodiments, the terminal is remote control.
In some feasible embodiments, methods described also includes：
The acquisition that the terminal broadcasts master remote controller authority to other remote controls is asked, and is reported to the aircraft described
Obtain request.
The terminal receives the acquisition request success notification of the aircraft feedback.
In some feasible embodiments, methods described also includes：
The acquisition that the terminal sends master remote controller authority to the aircraft is asked.
The terminal receives the acquisition request success notification of the aircraft feedback.
In some feasible embodiments, methods described also includes：
The one of aircraft described in a kind of broadcast transmission of the terminal into terminal, the terminal and other remote controls
Item or multiple control authority request.
The terminal receives the acquisition request success notification of the aircraft feedback.
In some feasible embodiments, the remote control is connected with user terminal, and methods described also includes：
The terminal carries out data interaction with the user terminal.
In some feasible embodiments, methods described also includes：
When the video eyeglasses receive the packet that the aircraft is sent, downlink reception parameter is obtained, it is described descending to connect
Receiving parameter includes one or both of signal to noise ratio snr and BLER(block error rate) BLER.
The video eyeglasses judge whether the downlink reception parameter meets to carry out between default at least two code check
The switching condition of switching.
The video eyeglasses are receiving the process data packet when the downlink reception parameter meets the switching condition
In, switched between default at least two code check.
The video eyeglasses send institute when the downlink reception parameter is unsatisfactory for the switching condition, to the aircraft
State the notice that video eyeglasses can not switch between default at least two code check.
In some feasible embodiments, the terminal is to establish to connect by terminal and the aircraft.
In the specific implementation, the specific implementation of the method and step described in the embodiment of the present application may refer to the application implementation
The implementation described in a kind of flying vehicles control method that illustration 9 or Figure 10 are provided, will not be repeated here.
In the embodiment of the present application, terminal directly establishes communication connection with aircraft, or is built by terminal and aircraft
Vertical communication connection, joint other-end complete negotiation and/or the master remote controller authority of one or more control authorities of aircraft
Negotiation, terminal can be specifically video eyeglasses or remote control, and the terminal being controlled to aircraft can carry out diversified group
Close so that the control of aircraft is more versatile and flexible.
Figure 14 is referred to, the schematic flow sheet of another the flying vehicles control method provided for the embodiment of the present application.This reality
The flying vehicles control method described in example is applied, including：
S401, aircraft and at least two terminals, which are established, to be communicated to connect.
S402, the aircraft carry out data interaction by the communication connection with least two terminal.
In some feasible embodiments, methods described also includes：
The first terminal that the aircraft receives at least two terminal report to one of the aircraft or
The acquisition request of multiple control authority.
The aircraft receives one or more controls currently at least two terminal with the aircraft
What the second terminal of limit was sent obtains the acknowledgement notification asked for described.
The aircraft responds the acknowledgement notification, and request success notification is obtained to first terminal feedback is described.
In some feasible embodiments, methods described also includes：
The first terminal that the aircraft receives at least two terminal send to one of the aircraft or
The acquisition request of multiple control authority.
The aircraft currently has the second end of one or more control authorities at least two terminal
End forwarding is described to obtain request.
The aircraft receives the acknowledgement notification for the acquisition request that the second terminal is sent.
The aircraft responds the acknowledgement notification, and request success notification is obtained to first terminal feedback is described.
In some feasible embodiments, at least two terminal that the aircraft establishes communication connection is to include
At least two video eyeglasses.
In some feasible embodiments, methods described also includes：
The aircraft receives the image transmitting feedback signal that at least two video eyeglasses are sent.
The described image that the aircraft is sent according at least two video eyeglasses transmit feedback signal and it is described extremely
The quantity of few two video eyeglasses, adjust to the code check and/or modulation system during first video eyeglasses transmission packet.
In some feasible embodiments, the aircraft is established and connected by the video eyeglasses and a remote control
Connect.
In some feasible embodiments, methods described also includes：
The aircraft receives the master remote controller authority that the first video eyeglasses at least two video eyeglasses are sent
Acquisition request, it is described that to obtain request be the first remote control from first video eyeglasses connection to first video eyeglasses
Send.
The aircraft is connected at least two video eyeglasses with current the second remote control as master remote controller
The second video eyeglasses forwarding it is described obtain request.
The aircraft receives second remote control and asked by what second video eyeglasses were sent for the acquisition
The acknowledgement notification asked.
The aircraft responds the acknowledgement notification, feeds back institute to first remote control by first video eyeglasses
State acquisition request success notification.
In some feasible embodiments, methods described also includes：
The aircraft receives the master remote controller authority that the first video eyeglasses at least two video eyeglasses report
Acquisition request, it is described that to obtain request be the first remote control from first video eyeglasses connection to first video eyeglasses
Send.
The aircraft is received at least two video eyeglasses to be connected with current the second remote control as master remote controller
The the second video eyeglasses forwarding connect obtains the acknowledgement notification asked for described.
The aircraft responds the acknowledgement notification, feeds back institute to first remote control by first video eyeglasses
State acquisition request success notification.
In some feasible embodiments, methods described also includes：
The first video eyeglasses that the aircraft receives at least two video eyeglasses send to the aircraft
One or more control authorities acquisition request, it is described obtain request be by first video eyeglasses connection first remote control
Device is sent to first video eyeglasses.
The aircraft is at least two video eyeglasses with currently having one or more control authorities
The second video eyeglasses forwarding of second remote control connection is described to obtain request.
The aircraft receives second remote control and asked by what second video eyeglasses were sent for the acquisition
The acknowledgement notification asked.
The aircraft responds the acknowledgement notification, feeds back institute to first remote control by first video eyeglasses
State acquisition request success notification.
In some feasible embodiments, methods described also includes：
The first video eyeglasses that the aircraft receives at least two video eyeglasses report to the aircraft
One or more control authorities acquisition request, it is described obtain request be by first video eyeglasses connection first remote control
Device is sent to first video eyeglasses.
The aircraft is received at least two video eyeglasses with currently having one or more control authorities
The second remote control connection the second video eyeglasses forwarding for it is described obtain request acknowledgement notification.
The aircraft responds the acknowledgement notification and feeds back institute to first remote control by first video eyeglasses
State acquisition request success notification.
In some feasible embodiments, at least two terminal that the aircraft establishes communication connection is to include
At least two remote controls.
In some feasible embodiments, methods described also includes：
The aircraft receives obtaining for the master remote controller authority that the first remote control at least two remote control reports
Take request.
The aircraft receives what current the second remote control as master remote controller at least two remote control was sent
For the acknowledgement notification for obtaining request.
The aircraft responds the acknowledgement notification, and request success notification is obtained to first remote control feedback is described.
In some feasible embodiments, methods described also includes：
The aircraft receives obtaining for the master remote controller authority that the first remote control at least two remote control reports
Take request.
The aircraft is at least two remote control described in current the second remote control forwarding as master remote controller
Obtain request.
The aircraft receives the acknowledgement notification for the acquisition request that second remote control is sent.
The aircraft responds the acknowledgement notification, and request success notification is obtained to first remote control feedback is described.
In some feasible embodiments, at least two terminal that the aircraft establishes communication connection is to include
At least one remote control and at least two video eyeglasses.
In some feasible embodiments, the aircraft is established with least two video eyeglasses by terminal and communicated
Connection, the aircraft are also established with least one remote control and communicated to connect.
In some feasible embodiments, methods described also includes：
The first remote control that the aircraft receives at least one remote control send to the one of the aircraft
The acquisition request of item or multiple control authority.
The aircraft currently has described one or more at least two video eyeglasses by the terminal
The first video eyeglasses forwarding of item control authority is described to obtain request.
The aircraft receives first video eyeglasses and obtains what is asked for described by what the terminal was sent
Acknowledgement notification.
The aircraft responds the acknowledgement notification, and request success notification is obtained to first remote control feedback is described.
In some feasible embodiments, methods described also includes：
The first video eyeglasses that the aircraft is received at least two video eyeglasses are reported by the terminal
One or more control authorities to the aircraft acquisition request.
The aircraft currently has the first of one or more control authorities at least one remote control
Remote control forwarding is described to obtain request.
The aircraft receives the acknowledgement notification for the acquisition request that first remote control is sent.
The aircraft responds the acknowledgement notification, by being obtained described in the terminal to first video eyeglasses feedback
Take request success notification.
In some feasible embodiments, at least one remote control is a remote control, and methods described also includes：
The aircraft receives one or more control authorities to the aircraft that one remote control reports
Obtain request.
The aircraft, which receives, currently has one or more control authorities at least two video eyeglasses
First video eyeglasses obtain the acknowledgement notification asked by what the terminal was sent for described.
The aircraft responds the acknowledgement notification, and request success notification is obtained to one remote control feedback is described.
In some feasible embodiments, at least one remote control is a remote control, and methods described also includes：
The first video eyeglasses that the aircraft is received at least two video eyeglasses are reported by the terminal
One or more control authorities to the aircraft acquisition request.
The aircraft receives the pin that currently one remote control with one or more control authorities is sent
To the acknowledgement notification for obtaining request.
The aircraft responds the acknowledgement notification, by being obtained described in the terminal to first video eyeglasses feedback
Take request success notification.
In some feasible embodiments, at least one remote control is at least two remote controls, and methods described is also
Including：
The first remote control that the aircraft is additionally operable to receive at least two remote control report to the flight
The acquisition request of one or more control authorities of device.
The aircraft, which receives, currently has one or more control authorities at least two video eyeglasses
First video eyeglasses obtain the acknowledgement notification asked by what the terminal was sent for described.
The aircraft obtains request success notification to first remote control feedback is described.
In some feasible embodiments, at least one remote control is at least two remote controls, and methods described is also
Including：
The first video eyeglasses that the aircraft is received at least two video eyeglasses are reported by the terminal
One or more control authorities to the aircraft acquisition request.
The aircraft receive at least two remote control currently with one or more control authorities the
What one remote control was sent obtains the acknowledgement notification asked for described.
The aircraft responds the acknowledgement notification, by being obtained described in the terminal to first video eyeglasses feedback
Take request success notification.
In the specific implementation, the specific implementation of the method and step described in the embodiment of the present application may refer to the application implementation
The implementation described in a kind of flying vehicles control method that illustration 9 or Figure 10 are provided, will not be repeated here.
In the embodiment of the present application, aircraft and at least two terminals, which are established, to be communicated to connect, at least two terminals can be to
Flight control is realized in few two video eyeglasses and/or at least two remote controls and/or terminal, the control for receiving at least two terminals
System, cradle head control, shooting control, and can participate in completing one or more control authorities that at least two terminals complete aircraft
Negotiation and/or master remote controller authority negotiation so that the control of aircraft is more versatile and flexible, strengthens the practicality of aircraft
Property.
The embodiment of the present application additionally provides a kind of computer-readable storage medium, and have program stored therein finger in the computer-readable storage medium
Make, have program stored therein instruction in the computer-readable storage medium, includes when described program performs such as any one of Fig. 9-10,13-14
Corresponding flight control method.
It should be noted that for foregoing each embodiment of the method, in order to be briefly described, therefore it is all expressed as to a system
The combination of actions of row, but those skilled in the art should know, the application is not limited by described sequence of movement, because
For according to the application, certain some step can use other orders or carry out simultaneously.Secondly, those skilled in the art also should
Know, embodiment described in this description belongs to preferred embodiment, involved action and module not necessarily this Shen
Please be necessary.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can
To instruct the hardware of correlation to complete by program, the program can be stored in a computer-readable recording medium, storage
Medium can include：Flash disk, read-only storage (Read-Only Memory, ROM), random access device (Random Access
Memory, RAM), disk or CD etc..
A kind of flying vehicles control method, terminal and the aircraft provided above the embodiment of the present application has carried out detailed Jie
Continue, specific case used herein is set forth to the principle and embodiment of the application, and the explanation of above example is only
It is to be used to help understand the present processes and its core concept；Meanwhile for those of ordinary skill in the art, according to this Shen
Thought please, there will be changes in specific embodiments and applications, in summary, this specification content should not manage
Solve as the limitation to the application.
Claims (76)
- A kind of 1. terminal, it is characterised in that including：Communicator, communicated to connect for being established with aircraft；Processor, for carrying out data interaction with the aircraft by the communication connection.
- 2. terminal according to claim 1, it is characterised in thatThe processor, it is additionally operable to by the communicator, is broadcasted to other-end to the one or more of the aircraft The acquisition request of control authority, and report described obtain to ask to the aircraft；The communicator, it is additionally operable to receive the acquisition request success notification of the aircraft feedback.
- 3. terminal according to claim 1, it is characterised in thatThe processor, it is additionally operable to by the communicator, one or more to the aircraft is sent to the aircraft The acquisition request of item control authority；The communicator, it is additionally operable to receive the acquisition request success notification of the aircraft feedback.
- 4. terminal according to claim 1, it is characterised in thatThe terminal is video eyeglasses.
- 5. terminal according to claim 4, it is characterised in thatThe communicator and a remote control are established and connected.
- 6. terminal according to claim 5, it is characterised in thatThe communicator, is additionally operable to receive that one remote control of the video eyeglasses connection sends to the aircraft One or more control authorities acquisition request；The processor, it is additionally operable to by the communicator, is asked to described obtain of other video eyeglasses broadcast, and to described Aircraft reports described obtain to ask；The communicator, it is additionally operable to receive the acquisition request success notification of the aircraft feedback；The communicator, it is additionally operable to obtain request success notification to the forwarding of one remote control is described.
- 7. terminal according to claim 5, it is characterised in thatThe communicator, is additionally operable to receive that one remote control of the video eyeglasses connection sends to the aircraft One or more control authorities acquisition request；The processor, it is additionally operable to by the communicator, reports described obtain to ask to the aircraft；The communicator, it is additionally operable to receive the acquisition request success notification of the aircraft feedback；The communicator, it is additionally operable to obtain request success notification to the forwarding of one remote control is described.
- 8. terminal according to claim 5, it is characterised in thatThe communicator, it is additionally operable to receive the master remote controller authority that one remote control of the video eyeglasses connection is sent Acquisition request；The processor, it is additionally operable to by the communicator, is asked to described obtain of other video eyeglasses broadcast, and to described Aircraft reports described obtain to ask；The communicator, it is additionally operable to receive the acquisition request success notification of the aircraft feedback；The communicator, it is additionally operable to obtain request success notification to the forwarding of one remote control is described.
- 9. terminal according to claim 5, it is characterised in thatThe communicator, it is additionally operable to receive the master remote controller authority that one remote control of the video eyeglasses connection is sent Acquisition request；The processor, it is additionally operable to by the communicator, reports described obtain to ask to the aircraft；The communicator, it is additionally operable to receive the acquisition request success notification of the aircraft feedback；The communicator, it is additionally operable to obtain request success notification to the forwarding of one remote control is described.
- 10. terminal according to claim 5, it is characterised in thatThe processor, it is additionally operable to by the communicator, receive the setting instruction that one remote control is sent；The processor, it is additionally operable to respond the setting instruction, the video eyeglasses is configured.
- 11. terminal according to claim 1, it is characterised in thatThe terminal is remote control.
- 12. terminal according to claim 11, it is characterised in thatThe processor, it is additionally operable to by the communicator, the acquisition that master remote controller authority is broadcasted to other remote controls is asked, And described obtain is reported to ask to the aircraft；The communicator, it is additionally operable to receive the acquisition request success notification of the aircraft feedback.
- 13. terminal according to claim 11, it is characterised in thatThe processor, it is additionally operable to by the communicator, the acquisition for reporting master remote controller authority to the aircraft is asked；The communicator, it is additionally operable to receive the acquisition request success notification of the aircraft feedback.
- 14. terminal according to claim 11, it is characterised in thatThe communicator, it is additionally operable to fly described in a kind of broadcast transmission into terminal, the terminal and other remote controls One or more control authorities request of row device；The communicator, it is additionally operable to receive the acquisition request success notification of the aircraft feedback.
- 15. terminal according to claim 11, it is characterised in that the remote control is connected with user terminal,The processor, it is additionally operable to by the communicator, data interaction is carried out with the user terminal.
- 16. terminal according to claim 4, it is characterised in thatThe communicator, it is additionally operable to receive the packet that the aircraft is sent；The processor, it is additionally operable to obtain downlink reception parameter, the downlink reception parameter includes signal to noise ratio snr and BLER(block error rate) One or both of BLER；The processor, it is additionally operable to judge whether the downlink reception parameter meets to carry out between default at least two code check The switching condition of switching；The processor, it is additionally operable to when the downlink reception parameter meets the switching condition, is receiving the packet mistake Cheng Zhong, switched between default at least two code check；The notice device, it is additionally operable to when the downlink reception parameter is unsatisfactory for the switching condition, is sent out to the aircraft The notice for sending the video eyeglasses can not be switched between default at least two code check.
- 17. the terminal according to any one of claim 1-16, it is characterised in thatThe communicator is to establish to connect by terminal and the aircraft.
- A kind of 18. flying vehicles control method, it is characterised in that including：Terminal is established with aircraft and communicated to connect；The terminal carries out data interaction by the communication connection with the aircraft.
- 19. according to the method for claim 18, it is characterised in that methods described also includes：The acquisition that the terminal is broadcasted to one or more control authorities of the aircraft to other-end is asked, and to described Aircraft reports described obtain to ask；The terminal receives the acquisition request success notification of the aircraft feedback.
- 20. according to the method for claim 18, it is characterised in that methods described also includes：The acquisition that the terminal is sent to one or more control authorities of the aircraft to the aircraft is asked；The terminal receives the acquisition request success notification of the aircraft feedback.
- 21. according to the method for claim 18, it is characterised in thatThe terminal is video eyeglasses.
- 22. according to the method for claim 21, it is characterised in thatThe video eyeglasses and a remote control are established and connected.
- 23. according to the method for claim 22, it is characterised in that methods described also includes：The terminal receives one or more to the aircraft that one remote control of the video eyeglasses connection is sent The acquisition request of item control authority；The terminal is asked to described obtain of other video eyeglasses broadcast, and reports described obtain to ask to the aircraft；The terminal receives the acquisition request success notification of the aircraft feedback；The terminal obtains request success notification to the forwarding of one remote control is described.
- 24. according to the method for claim 22, it is characterised in that methods described also includes：The terminal receives one or more to the aircraft that one remote control of the video eyeglasses connection is sent The acquisition request of item control authority；The terminal reports described obtain to ask to the aircraft；The terminal receives the acquisition request success notification of the aircraft feedback；The terminal obtains request success notification to the forwarding of one remote control is described.
- 25. according to the method for claim 22, it is characterised in that methods described also includes：The acquisition request for the master remote controller authority that one remote control that the terminal receives the video eyeglasses connection is sent；The terminal is asked to described obtain of other video eyeglasses broadcast, and reports described obtain to ask to the aircraft；The terminal receives the acquisition request success notification of the aircraft feedback；The terminal obtains request success notification to the forwarding of one remote control is described.
- 26. according to the method for claim 22, it is characterised in that methods described also includes：The acquisition request for the master remote controller authority that one remote control that the terminal receives the video eyeglasses connection is sent；The terminal reports described obtain to ask to the aircraft；The terminal receives the acquisition request success notification of the aircraft feedback；The terminal obtains request success notification to the forwarding of one remote control is described.
- 27. according to the method for claim 22, it is characterised in that methods described also includes：The terminal receives the setting instruction that one remote control is sent；Instruction is set described in the terminal response, the video eyeglasses are configured.
- 28. according to the method for claim 18, it is characterised in thatThe terminal is remote control.
- 29. according to the method for claim 28, it is characterised in that methods described also includes：The acquisition that the terminal broadcasts master remote controller authority to other remote controls is asked, and reports the acquisition to the aircraft Request；The terminal receives the acquisition request success notification of the aircraft feedback.
- 30. according to the method for claim 28, it is characterised in that methods described also includes：The acquisition that the terminal sends master remote controller authority to the aircraft is asked；The terminal receives the acquisition request success notification of the aircraft feedback.
- 31. according to the method for claim 28, it is characterised in that methods described also includes：One of aircraft described in a kind of broadcast transmission of the terminal into terminal, the terminal and other remote controls or Multiple control authority request；The terminal receives the acquisition request success notification of the aircraft feedback.
- 32. according to the method for claim 28, it is characterised in that the remote control is connected with user terminal, methods described Also include：The terminal carries out data interaction with the user terminal.
- 33. according to the method for claim 21, it is characterised in that methods described also includes：When the video eyeglasses receive the packet that the aircraft is sent, downlink reception parameter, the downlink reception ginseng are obtained Number includes one or both of signal to noise ratio snr and BLER(block error rate) BLER；The video eyeglasses judge whether the downlink reception parameter meets to switch between default at least two code check Switching condition；The video eyeglasses are when the downlink reception parameter meets the switching condition, in the process data packet is received, Switched between default at least two code check；The video eyeglasses regard when the downlink reception parameter is unsatisfactory for the switching condition to described in aircraft transmission The notice that frequency glasses can not switch between default at least two code check.
- 34. according to the methods described any one of claim 18-33, it is characterised in thatThe terminal is to establish to connect by terminal and the aircraft.
- A kind of 35. aircraft, it is characterised in that including：Communicator, communicated to connect for being established with least two terminals；Flight controller, for carrying out data interaction with least two terminal by the communication connection.
- 36. aircraft according to claim 35, it is characterised in thatThe communicator, the first terminal for being additionally operable to receive at least two terminal report to the one of the aircraft The acquisition request of item or multiple control authority；The communicator, it is additionally operable to receive one or more controls currently at least two terminal with the aircraft What the second terminal of authority processed was sent obtains the acknowledgement notification asked for described；The flight controller, it is additionally operable to respond the acknowledgement notification, by the communicator, is fed back to the first terminal It is described to obtain request success notification.
- 37. aircraft according to claim 35, it is characterised in thatThe communicator, is additionally operable to receive that first terminal at least two terminal sends to the one of the aircraft The acquisition request of item or multiple control authority；The communicator, it is additionally operable at least two terminal the currently with one or more control authorities The forwarding of two terminals is described to obtain request；The communicator, it is additionally operable to receive the acknowledgement notification for the acquisition request that the second terminal is sent；The flight controller, it is additionally operable to respond the acknowledgement notification, by the communicator, is fed back to the first terminal It is described to obtain request success notification.
- 38. aircraft according to claim 35, it is characterised in thatAt least two terminal that the communicator of the aircraft establishes communication connection is at least two video eyeglasses.
- 39. the aircraft according to claim 38, it is characterised in thatThe communicator, it is additionally operable to receive the image transmitting feedback signal that at least two video eyeglasses are sent；The flight controller, be additionally operable to according at least two video eyeglasses send described image transmission feedback signal and The quantity of at least two video eyeglasses, adjust to code check during first video eyeglasses transmission packet and/or modulation Mode.
- 40. the aircraft according to claim 38, it is characterised in thatThe aircraft is established and connected by the video eyeglasses and a remote control.
- 41. aircraft according to claim 40, it is characterised in thatThe communicator, it is additionally operable to receive the master remote controller that the first video eyeglasses at least two video eyeglasses are sent The acquisition request of authority, described to obtain request be the first remote control from first video eyeglasses connection to first video What glasses were sent；The communicator, it is additionally operable at least two video eyeglasses and current the second remote control as master remote controller The second video eyeglasses forwarding of connection is described to obtain request；The communicator, it is additionally operable to receive second remote control and is obtained by what second video eyeglasses were sent for described Take the acknowledgement notification of request；The flight controller, it is additionally operable to respond the acknowledgement notification, is remotely controlled by first video eyeglasses to described first Device feedback is described to obtain request success notification.
- 42. aircraft according to claim 40, it is characterised in thatThe communicator, it is additionally operable to receive the master remote controller that the first video eyeglasses at least two video eyeglasses report The acquisition request of authority, described to obtain request be the first remote control from first video eyeglasses connection to first video What glasses were sent；The communicator, it is additionally operable to receive at least two video eyeglasses and current the second remote control as master remote controller The second video eyeglasses forwarding of device connection obtains the acknowledgement notification asked for described；The flight controller, it is additionally operable to respond the acknowledgement notification, by the communicator, passes through the first video eye Mirror obtains request success notification to first remote control feedback is described.
- 43. aircraft according to claim 40, it is characterised in thatThe communicator, the first video eyeglasses transmission for being additionally operable to receive at least two video eyeglasses fly to described The acquisition request of one or more control authorities of row device, described obtain ask to be by the first of first video eyeglasses connection Remote control is sent to first video eyeglasses；The communicator, it is additionally operable at least two video eyeglasses and currently there are one or more controls The second video eyeglasses forwarding of the second remote control connection of limit is described to obtain request；The communicator, it is additionally operable to receive second remote control and is obtained by what second video eyeglasses were sent for described Take the acknowledgement notification of request；The flight controller, it is additionally operable to respond the acknowledgement notification, by the communicator, passes through the first video eye Mirror obtains request success notification to first remote control feedback is described.
- 44. aircraft according to claim 40, it is characterised in thatThe communicator, what the first video eyeglasses for being additionally operable to receive at least two video eyeglasses reported flies to described The acquisition request of one or more control authorities of row device, described obtain ask to be by the first of first video eyeglasses connection Remote control is sent to first video eyeglasses；The communicator, it is additionally operable to receive at least two video eyeglasses and currently there are one or more controls The second video eyeglasses forwarding of the second remote control connection of authority obtains the acknowledgement notification asked for described；The flight controller, it is additionally operable to respond the acknowledgement notification, by the communicator, passes through the first video eye Mirror obtains request success notification to first remote control feedback is described.
- 45. aircraft according to claim 35, it is characterised in thatAt least two terminal that the communicator of the aircraft establishes communication connection is to include at least two remote controls Device.
- 46. aircraft according to claim 45, it is characterised in thatThe communicator, it is additionally operable to receive the master remote controller authority that the first remote control at least two remote control reports Acquisition request；The communicator, it is additionally operable to receive current the second remote control as master remote controller at least two remote control and sends out That send obtains the acknowledgement notification asked for described；The flight controller, it is additionally operable to respond the acknowledgement notification, it is anti-to first remote control by the communicator Present described obtain and ask success notification.
- 47. aircraft according to claim 45, it is characterised in thatThe communicator, it is additionally operable to receive the master remote controller authority that the first remote control at least two remote control reports Acquisition request；The communicator, it is additionally operable to current the second remote control as master remote controller at least two remote control and forwards It is described to obtain request；The communicator, it is additionally operable to receive the acknowledgement notification for the acquisition request that second remote control is sent；The flight controller, it is additionally operable to respond the acknowledgement notification, it is anti-to first remote control by the communicator Present described obtain and ask success notification.
- 48. aircraft according to claim 35, it is characterised in thatAt least two terminal that the communicator of the aircraft establishes communication connection is to include at least one remote control Device and at least two video eyeglasses.
- 49. aircraft according to claim 35, it is characterised in thatThe communicator of the aircraft is established by terminal and at least two video eyeglasses and communicated to connect, the flight The communicator of device is also established with least one remote control and communicated to connect.
- 50. aircraft according to claim 49, it is characterised in thatThe communicator, is additionally operable to receive that the first remote control at least one remote control sends to the aircraft One or more control authorities acquisition request；The communicator, it is additionally operable to that currently there is described one at least two video eyeglasses by the terminal Or described obtain of the first video eyeglasses forwarding of multiple control authority is asked；The communicator, be additionally operable to receive first video eyeglasses by the terminal send please for the acquisition The acknowledgement notification asked；The flight controller, it is additionally operable to respond the acknowledgement notification, it is anti-to first remote control by the communicator Present described obtain and ask success notification.
- 51. aircraft according to claim 49, it is characterised in thatThe communicator, the first video eyeglasses for being additionally operable to receive at least two video eyeglasses pass through the terminal The acquisition request of the one or more control authorities to the aircraft reported；The communicator, it is additionally operable to that currently there are one or more control authorities at least one remote control The forwarding of first remote control is described to obtain request；The communicator, it is additionally operable to receive the acknowledgement notification for the acquisition request that first remote control is sent；The flight controller, it is additionally operable to respond the acknowledgement notification, by the communicator, by the terminal to institute State described obtain of the first video eyeglasses feedback and ask success notification.
- 52. aircraft according to claim 49, it is characterised in that at least one remote control is a remote control,The communicator, it is additionally operable to receive one or more controls to the aircraft that one remote control reports The acquisition request of limit；The communicator, being additionally operable to receive at least two video eyeglasses currently has one or more controls First video eyeglasses of limit obtain the acknowledgement notification asked by what the terminal was sent for described；The flight controller, it is additionally operable to respond the acknowledgement notification, it is anti-to one remote control by the communicator Present described obtain and ask success notification.
- 53. aircraft according to claim 49, it is characterised in that at least one remote control is a remote control,The communicator, the first video eyeglasses for being additionally operable to receive at least two video eyeglasses pass through the terminal The acquisition request of the one or more control authorities to the aircraft reported；The communicator, it is additionally operable to receive currently one remote control with one or more control authorities and sends For it is described obtain request acknowledgement notification；The flight controller, it is additionally operable to respond the acknowledgement notification, by the communicator, by the terminal to institute State described obtain of the first video eyeglasses feedback and ask success notification.
- 54. aircraft according to claim 49, it is characterised in that at least one remote control is at least two remote controls Device,The communicator, the first remote control for being additionally operable to receive at least two remote control report to the aircraft One or more control authorities acquisition request；The communicator, being additionally operable to receive at least two video eyeglasses currently has one or more controls First video eyeglasses of limit obtain the acknowledgement notification asked by what the terminal was sent for described；The flight controller, be additionally operable to by the communicator, to first remote control feedback it is described obtain request into Work(notifies.
- 55. aircraft according to claim 49, it is characterised in that at least one remote control is at least two remote controls Device,The communicator, the first video eyeglasses for being additionally operable to receive at least two video eyeglasses pass through the terminal The acquisition request of the one or more control authorities to the aircraft reported；The communicator, being additionally operable to receive at least two remote control currently has one or more control authorities The first remote control send for it is described obtain request acknowledgement notification；The flight controller, it is additionally operable to respond the acknowledgement notification, by the communicator, by the terminal to institute State described obtain of the first video eyeglasses feedback and ask success notification.
- A kind of 56. flying vehicles control method, it is characterised in that including：Aircraft and at least two terminals, which are established, to be communicated to connect；The aircraft carries out data interaction by the communication connection with least two terminal.
- 57. method according to claim 56, it is characterised in that methods described also includes：The first terminal that the aircraft receives at least two terminal report to the one or more of the aircraft The acquisition request of control authority；Currently there are one or more control authorities of the aircraft in the aircraft reception at least two terminal What second terminal was sent obtains the acknowledgement notification asked for described；The aircraft responds the acknowledgement notification, and request success notification is obtained to first terminal feedback is described.
- 58. method according to claim 56, it is characterised in that methods described also includes：The first terminal that the aircraft receives at least two terminal send to the one or more of the aircraft The acquisition request of control authority；Into at least two terminal, currently the second terminal with one or more control authorities turns the aircraft Send out described and obtain request；The aircraft receives the acknowledgement notification for the acquisition request that the second terminal is sent；The aircraft responds the acknowledgement notification, and request success notification is obtained to first terminal feedback is described.
- 59. method according to claim 56, it is characterised in thatAt least two terminal that the aircraft establishes communication connection is to include at least two video eyeglasses.
- 60. method according to claim 59, it is characterised in that methods described also includes：The aircraft receives the image transmitting feedback signal that at least two video eyeglasses are sent；The described image that the aircraft is sent according at least two video eyeglasses transmits feedback signal and described at least two The quantity of individual video eyeglasses, adjust to the code check and/or modulation system during first video eyeglasses transmission packet.
- 61. method according to claim 59, it is characterised in thatThe aircraft is established and connected by the video eyeglasses and a remote control.
- 62. method according to claim 61, it is characterised in that methods described also includes：The aircraft receives obtaining for the master remote controller authority that the first video eyeglasses at least two video eyeglasses are sent Request is taken, described obtain ask to be sent to first video eyeglasses from the first remote control of first video eyeglasses connection 's；The aircraft be connected at least two video eyeglasses with current the second remote control as master remote controller the The forwarding of two video eyeglasses is described to obtain request；The aircraft receives second remote control and obtains what is asked for described by what second video eyeglasses were sent Acknowledgement notification；The aircraft responds the acknowledgement notification, by being obtained described in first video eyeglasses to first remote control feedback Take request success notification.
- 63. method according to claim 61, it is characterised in that methods described also includes：The aircraft receives obtaining for the master remote controller authority that the first video eyeglasses at least two video eyeglasses report Request is taken, described obtain ask to be sent to first video eyeglasses from the first remote control of first video eyeglasses connection 's；The aircraft receives what is be connected at least two video eyeglasses with current the second remote control as master remote controller The forwarding of second video eyeglasses obtains the acknowledgement notification asked for described；The aircraft responds the acknowledgement notification, by being obtained described in first video eyeglasses to first remote control feedback Take request success notification.
- 64. method according to claim 61, it is characterised in that methods described also includes：The first video eyeglasses that the aircraft receives at least two video eyeglasses send to the one of the aircraft Or multiple control authority acquisition request, it is described obtain request be from first video eyeglasses connection the first remote control to What first video eyeglasses were sent；The aircraft is at least two video eyeglasses with currently having the second of one or more control authorities The second video eyeglasses forwarding of remote control connection is described to obtain request；The aircraft receives second remote control and obtains what is asked for described by what second video eyeglasses were sent Acknowledgement notification；The aircraft responds the acknowledgement notification, by being obtained described in first video eyeglasses to first remote control feedback Take request success notification.
- 65. method according to claim 61, it is characterised in that methods described also includes：The first video eyeglasses that the aircraft receives at least two video eyeglasses report to the one of the aircraft Or multiple control authority acquisition request, it is described obtain request be from first video eyeglasses connection the first remote control to What first video eyeglasses were sent；The aircraft receive at least two video eyeglasses with currently with one or more control authorities the The second video eyeglasses forwarding of two remote controls connection obtains the acknowledgement notification asked for described；The aircraft responds the acknowledgement notification by being obtained described in first video eyeglasses to first remote control feedback Take request success notification.
- 66. method according to claim 56, it is characterised in thatAt least two terminal that the aircraft establishes communication connection is to include at least two remote controls.
- 67. method according to claim 66, it is characterised in that methods described also includes：The acquisition that the aircraft receives the master remote controller authority that the first remote control at least two remote control reports please Ask；What current the second remote control as master remote controller was sent in the aircraft reception at least two remote control is directed to The acknowledgement notification for obtaining request；The aircraft responds the acknowledgement notification, and request success notification is obtained to first remote control feedback is described.
- 68. method according to claim 66, it is characterised in that methods described also includes：The acquisition that the aircraft receives the master remote controller authority that the first remote control at least two remote control reports please Ask；The aircraft current second remote control as master remote controller at least two remote control forwards the acquisition Request；The aircraft receives the acknowledgement notification for the acquisition request that second remote control is sent；The aircraft responds the acknowledgement notification, and request success notification is obtained to first remote control feedback is described.
- 69. method according to claim 56, it is characterised in thatAt least two terminal that the aircraft establishes communication connection is to include at least one remote control and at least two to regard Frequency glasses.
- 70. method according to claim 56, it is characterised in thatThe aircraft is established by terminal and at least two video eyeglasses and communicated to connect, the aircraft also with it is at least one Remote control establishes communication connection.
- 71. method according to claim 70, it is characterised in that methods described also includes：The first remote control that the aircraft receives at least one remote control send to one of the aircraft or The acquisition request of multiple control authority；The aircraft currently has one or more controls at least two video eyeglasses by the terminal The first video eyeglasses forwarding of authority processed is described to obtain request；The aircraft receives first video eyeglasses and obtains the confirmation asked for described by what the terminal was sent Notice；The aircraft responds the acknowledgement notification, and request success notification is obtained to first remote control feedback is described.
- 72. method according to claim 70, it is characterised in that methods described also includes：The aircraft receives pair that the first video eyeglasses at least two video eyeglasses are reported by the terminal The acquisition request of one or more control authorities of the aircraft；The aircraft currently first remote control with one or more control authorities at least one remote control Device forwarding is described to obtain request；The aircraft receives the acknowledgement notification for the acquisition request that first remote control is sent；The aircraft responds the acknowledgement notification, and feeding back the acquisition to first video eyeglasses by the terminal please Seek success notification.
- 73. method according to claim 70, it is characterised in that at least one remote control is a remote control, institute Stating method also includes：The aircraft receives the acquisition for one or more control authorities to the aircraft that one remote control reports Request；The aircraft, which receives, currently has the first of one or more control authorities at least two video eyeglasses Video eyeglasses obtain the acknowledgement notification asked by what the terminal was sent for described；The aircraft responds the acknowledgement notification, and request success notification is obtained to one remote control feedback is described.
- 74. method according to claim 70, it is characterised in that at least one remote control is a remote control, institute Stating method also includes：The aircraft receives pair that the first video eyeglasses at least two video eyeglasses are reported by the terminal The acquisition request of one or more control authorities of the aircraft；The aircraft reception currently one remote control transmission with one or more control authorities is directed to institute State the acknowledgement notification for obtaining request；The aircraft responds the acknowledgement notification, and feeding back the acquisition to first video eyeglasses by the terminal please Seek success notification.
- 75. method according to claim 70, it is characterised in that at least one remote control is at least two remote controls Device, methods described also include：The first remote control that the aircraft is additionally operable to receive at least two remote control report to the aircraft The acquisition request of one or more control authorities；The aircraft, which receives, currently has the first of one or more control authorities at least two video eyeglasses Video eyeglasses obtain the acknowledgement notification asked by what the terminal was sent for described；The aircraft obtains request success notification to first remote control feedback is described.
- 76. method according to claim 70, it is characterised in that at least one remote control is at least two remote controls Device, methods described also include：The aircraft receives pair that the first video eyeglasses at least two video eyeglasses are reported by the terminal The acquisition request of one or more control authorities of the aircraft；The aircraft receives at least two remote control currently first with one or more control authorities distant Control the acknowledgement notification for the acquisition request that device is sent；The aircraft responds the acknowledgement notification, and feeding back the acquisition to first video eyeglasses by the terminal please Seek success notification.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911230021.1A CN110879613A (en) | 2016-09-27 | 2016-09-27 | Aircraft control method, terminal and aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/100301 WO2018058289A1 (en) | 2016-09-27 | 2016-09-27 | Aircraft control method, terminal and aircraft |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911230021.1A Division CN110879613A (en) | 2016-09-27 | 2016-09-27 | Aircraft control method, terminal and aircraft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107438801A true CN107438801A (en) | 2017-12-05 |
| CN107438801B CN107438801B (en) | 2019-11-22 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680014390.5A Expired - Fee Related CN107438801B (en) | 2016-09-27 | 2016-09-27 | A kind of flying vehicles control method, terminal and aircraft |
| CN201911230021.1A Withdrawn CN110879613A (en) | 2016-09-27 | 2016-09-27 | Aircraft control method, terminal and aircraft |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911230021.1A Withdrawn CN110879613A (en) | 2016-09-27 | 2016-09-27 | Aircraft control method, terminal and aircraft |
Country Status (2)
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| CN (2) | CN107438801B (en) |
| WO (1) | WO2018058289A1 (en) |
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| CN109445464A (en) * | 2019-01-08 | 2019-03-08 | 深圳市道通智能航空技术有限公司 | A kind of flight control method and flight control system |
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| CN110687806A (en) * | 2019-09-30 | 2020-01-14 | 万翼科技有限公司 | Equipment control method and related device |
| CN110753313A (en) * | 2019-10-30 | 2020-02-04 | 深圳市道通智能航空技术有限公司 | Data synchronization method and system |
| CN110999217A (en) * | 2018-08-21 | 2020-04-10 | 深圳市大疆创新科技有限公司 | Setting method of control function, control equipment and control system |
| CN111047848A (en) * | 2019-12-28 | 2020-04-21 | 西安因诺航空科技有限公司 | SBUS many-to-one remote control system |
| WO2020150951A1 (en) * | 2019-01-24 | 2020-07-30 | 深圳市大疆创新科技有限公司 | Control terminal display method, device, and storage medium |
| WO2021012181A1 (en) * | 2019-07-23 | 2021-01-28 | 深圳市大疆创新科技有限公司 | Remote control mobile platform control method, and device and computer-readable storage medium |
| WO2021081815A1 (en) * | 2019-10-30 | 2021-05-06 | 深圳市大疆创新科技有限公司 | Video transmission method and device, and computer-readable storage medium |
| CN113199496A (en) * | 2021-04-09 | 2021-08-03 | 杭州胖力科技有限公司 | Bionic hand control device and method and electronic equipment |
| CN113377129A (en) * | 2021-08-13 | 2021-09-10 | 四川腾盾科技有限公司 | Method for cooperatively controlling one unmanned aerial vehicle by two ground stations |
| WO2021217416A1 (en) * | 2020-04-28 | 2021-11-04 | 深圳市大疆创新科技有限公司 | Movable platform control method and apparatus, movable platform, and storage medium |
| WO2023272446A1 (en) * | 2021-06-28 | 2023-01-05 | 深圳市大疆创新科技有限公司 | Communication method, system, and apparatus, remote controller, aircraft, and storage medium |
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| CN110999217A (en) * | 2018-08-21 | 2020-04-10 | 深圳市大疆创新科技有限公司 | Setting method of control function, control equipment and control system |
| CN109445464A (en) * | 2019-01-08 | 2019-03-08 | 深圳市道通智能航空技术有限公司 | A kind of flight control method and flight control system |
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| CN110753313A (en) * | 2019-10-30 | 2020-02-04 | 深圳市道通智能航空技术有限公司 | Data synchronization method and system |
| CN111047848A (en) * | 2019-12-28 | 2020-04-21 | 西安因诺航空科技有限公司 | SBUS many-to-one remote control system |
| WO2021217416A1 (en) * | 2020-04-28 | 2021-11-04 | 深圳市大疆创新科技有限公司 | Movable platform control method and apparatus, movable platform, and storage medium |
| CN113199496A (en) * | 2021-04-09 | 2021-08-03 | 杭州胖力科技有限公司 | Bionic hand control device and method and electronic equipment |
| WO2023272446A1 (en) * | 2021-06-28 | 2023-01-05 | 深圳市大疆创新科技有限公司 | Communication method, system, and apparatus, remote controller, aircraft, and storage medium |
| CN113377129A (en) * | 2021-08-13 | 2021-09-10 | 四川腾盾科技有限公司 | Method for cooperatively controlling one unmanned aerial vehicle by two ground stations |
| CN113377129B (en) * | 2021-08-13 | 2021-11-16 | 四川腾盾科技有限公司 | Method for cooperatively controlling one unmanned aerial vehicle by two ground stations |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2018058289A1 (en) | 2018-04-05 |
| CN110879613A (en) | 2020-03-13 |
| CN107438801B (en) | 2019-11-22 |
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