CN107438801B - 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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- CN107438801B CN107438801B CN201680014390.5A CN201680014390A CN107438801B CN 107438801 B CN107438801 B CN 107438801B CN 201680014390 A CN201680014390 A CN 201680014390A CN 107438801 B CN107438801 B CN 107438801B
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- remote controler
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Classifications
-
- 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) can establish connection with multiple terminals (102).Terminal (102) may include remote controler (104), video glass (103), aircraft (101) can be connect with multiple video glasses (103), image data is transmitted to multiple video glasses (103) simultaneously, realization allows multiple users while shared FPV experience, in addition aircraft (101) is connect with multiple remote controlers (104), and master remote controller (104) permission can be set by the user.Simultaneously as the negotiation that can also realize one or more controls to aircraft (101) between the remote controler (104) and/or video glass (103) of terminal (102).Flexible control of the multiple terminals (102) to aircraft (101) may be implemented, system structure scalability is strong.
Description
Technical field
This application involves technical field of flight control more particularly to a kind of flying vehicles control methods, terminal and aircraft.
Background technique
It improves with the continuous development of science and technology, the function of unmanned plane (Unmanned Aerial Vehicle, UAV)
Also constantly improve, have been widely used at present profession take photo by plane, agricultural irrigation, electric power cruise, remote sensing mapping, the fields such as security monitoring
The corollary equipment of Jing Zhong, UAV generally have the terminals such as remote controler, video glass, wherein video glass can complete UAV and collect
Image data display, the immersion visual experience of first person main perspective (First Person View, FPV) is provided, with
And the flight control of UAV, holder can be completed to functions, remote controlers such as UAV progress motion sensing controls by the posture of video glass
It controls, the functions such as control of taking pictures.
Common configuration at present is that a UAV configures a remote controler, or two remote controlers of configuration are cooperated flight
Or relay flight, principal and subordinate's logic can not be set, in over the horizon flight, two remote controlers may be unable to satisfy control needs；Mesh
It is preceding that a video glass and a remote controler can only be configured for a UAV, it is only a user and the visual angle FPV is provided, it cannot
Multiple users share FPV experience is provided.
Summary 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 structure scalability is strong.
The embodiment of the present application first aspect discloses a kind of terminal, comprising:
Communication device is communicated to connect for establishing 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, comprising:
Communication device is communicated to connect for establishing at least two terminals.
Flight controller, for carrying out data interaction at least two terminal by the communication connection.
The embodiment of the present application third aspect discloses a kind of flying vehicles control method, comprising:
Terminal and aircraft, which are established, to be communicated to connect.
The terminal carries out data interaction with the aircraft by the communication connection.
The embodiment of the present application fourth aspect discloses a kind of flying vehicles control method, comprising:
Aircraft and at least two terminals, which are established, to be communicated to connect.
The aircraft carries out data interaction at least two terminal by the communication connection.
Aircraft in the embodiment of the present application can establish connection with multiple terminals.The terminal may include remote controler, view
Frequency glasses, the aircraft can be connect with multiple video glasses, while transmit image data to multiple video glasses, and realization allows
Multiple users shared FPV experience simultaneously, in addition the aircraft is connect with multiple remote controlers, and master remote controller permission can be by user
Setting.Simultaneously as the one or more controls that can also be realized between the remote controler and/or video glass of terminal to aircraft
The negotiation of power, may be implemented flexible control of the multiple terminals to aircraft, and system structure scalability is strong.
Detailed description of the invention
It in order to more clearly explain the technical solutions in the embodiments of the present application, below will be to needed in the embodiment
Attached drawing is briefly described, it should be apparent that, the drawings in the following description are only some examples of the present application, for ability
For the those of ordinary skill of domain, without any creative labor, it can also be obtained according to these attached drawings others
Attached drawing.
Fig. 1 is a kind of structural schematic diagram of flight control system disclosed in the embodiment of the present application；
Fig. 2 is the structural schematic diagram of another kind flight control system disclosed in the embodiment of the present application；
Fig. 3 is the structural schematic diagram of another flight control system disclosed in the embodiment of the present application；
Fig. 4 is the structural schematic diagram of another flight control system disclosed in the embodiment of the present application；
Fig. 5 is the structural schematic diagram of another flight control system disclosed in the embodiment of the present application；
Fig. 6 is the structural schematic diagram of another flight control system disclosed in the embodiment of the present application；
Fig. 7 is the structural schematic diagram of another flight control system disclosed in the embodiment of the present application；
Fig. 8 is the structural schematic diagram of another flight control system disclosed in the embodiment of the present application；
Fig. 9 is a kind of flow diagram of flying vehicles control method disclosed in the embodiment of the present application；
Figure 10 is the flow diagram of another kind flying vehicles control method disclosed in the embodiment of the present application；
Figure 11 is a kind of structural schematic diagram of terminal disclosed in the embodiment of the present application；
Figure 12 is a kind of structural schematic diagram of aircraft disclosed in the embodiment of the present application；
Figure 13 is the flow diagram of another flying vehicles control method disclosed in the embodiment of the present application；
Figure 14 is the flow diagram of another flying vehicles control method disclosed in the embodiment of the present application.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application is clearly retouched
It states, it is clear that the described embodiments are only a part but not all of the embodiments of the present application.Based in the application
Embodiment, every other embodiment obtained by those of ordinary skill in the art without making creative efforts,
It shall fall in the protection scope of this application.
Referring to Fig. 1, being a kind of structural schematic diagram of flight control system provided by the embodiments of the present application.The present embodiment
Described in flight control system, comprising: aircraft 101 and at least two terminals 102, in which:
The aircraft 101, for all establishing communication link with each of at least two terminal 102 terminal respectively
It connects.
At least two terminal 102, for carrying out data interaction with the aircraft 101 by the communication connection；
By the data interaction may be implemented the control to the aircraft 101, Stateful Inspection, image data acquisition and display in
It is one or more.
Wherein, at least two terminals 102 specifically can be at least two remote controlers, at least two video glasses, at least one
Any one in a remote controler and at least two video glasses, the particular number of at least two terminals 102 can be according to application
The combined factors such as the performance of the actual demand of scene and/or the performance of aircraft and/or terminal determine that the present embodiment does not limit
It is fixed.
Remote controler specifically can be used for completing reception and/or forwarding, the reception of running state data to image data
And/or forwarding, the reception of exercise data and/or forwarding, the reception of electricity data and/or forwarding, to the setting of video glass, right
Flight control, cradle head control, the shooting control, the negotiation of one or more control authorities of aircraft, master remote controller of aircraft
One of the negotiation of permission and link signalling interaction are a variety of.
Video glass specifically can be used for completing reception to image data and/or forwarding and/or display, operating 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 electricity data
And/or forwarding and/or display, flight control, cradle head control, the shooting of aircraft are controlled, 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 permission and the link letter of remote controler setting
Enable one of interaction or a variety of.
Wherein, one or more control authorities of the aircraft include flight control authority, cradle head control permission and bat
Take the photograph one of control authority or a variety of.
In some possible embodiments, as shown in Fig. 2, at least two terminal 102 be specifically as follows it is described extremely
Few two video glasses 103, for providing FPV visual experience simultaneously at least two users.
Optionally, at least one video glass at least two video glass 103 is respectively connected with a remote control
Device 104, for controlling the flight of aircraft 101.
Optionally, at least two video glasses at least two video glass 103 are respectively connected with a remote control
Device 104, for controlling the flight of aircraft 101.
Optionally, one to aircraft may be implemented at least two video glass 103 and/or the remote controler 104
The negotiation of item or multiple control permission and/or the negotiation of master remote controller permission.
At least two video glasses at least two video glass 103 are respectively connected with a remote controler 104
In the case where, remote controler 104 can be realized to one or more of aircraft between remote controler 104 by the video glass that is connected to
The item negotiation of control authority and/or the negotiation of master remote controller permission.
Wherein, remote controler 104 passes through the negotiation of the video glass that is connected to one or more control authorities of aircraft
Mode may include following manner:
Mode one, establishing between at least two video glass 103 has communication connection, and communication connection specifically can be nothing
Line connects (such as bluetooth, Wireless Fidelity Wi-Fi etc.), is also possible to wired connection (such as general-purpose serial bus USB etc.), and asks
It asks the video glass of the remote controler connection for the one or more control authorities for obtaining aircraft to broadcast to other video glasses to be remotely controlled
The acquisition request of device, it may be assumed that the first video glass at least two video glasses 103 receives the connect with the first video glass
The acquisition request for one or more control authorities to aircraft that one remote controler is sent.
Other video glasses at least two video glasses 103 of first video glass broadcast acquisition request, and to flying
Row device 101 reports acquisition request.
It obtains with the second video glass for connecting of the second remote controler currently with one or more control authorities receiving
When taking request, acquisition request is forwarded to the second remote controler.
Second remote controler is after receiving acquisition request, if receiving the confirmation operation for acquisition request, to
Two video glasses send the acknowledgement notification for being directed to acquisition request, wherein confirmation operation for example can pass through the second remote control by user
The combination of specified button or at least two keys on device or the triggering of the user terminal by being connect with second remote controler.
Second video glass is also used to forward acknowledgement notification to aircraft 101.
Aircraft 101 for feeding back acquisition request success to the first remote controler by the first video glass, and broadcasts one
Or multiple control permission modification is all notices of the first remote controler.The video glass for being connected with remote controler is receiving aircraft
One or more control authorities of 101 broadcast are changed to after all notices of the first remote controler, can be distant to what is respectively connected
Control device forwards one or more control authorities to be changed to all notices of the first remote controler.
The remote controler of mode two, one or more control authorities of request aircraft is connected to video glass to flight
Device 101 reports acquisition request, the video eye connected from aircraft 101 to the remote controler currently with one or more control authorities
Mirror forwards acquisition request, and aircraft 101 records the attaching information of each control authority and video glass that have aircraft 101, example
Such as, the mapping table that can establish control authority and video glass mark can determine a certain item by inquiring mapping table
Or multiple control permission currently belongs to which video glass owns, it may be assumed that the first video glass at least two video glasses 103
The acquisition for receiving one or more control authorities to aircraft that the first remote controler connecting with the first video glass is sent is asked
It asks, and reports the acquisition request to aircraft 101.
Aircraft 101, the second video for being connected to the second remote controler currently with one or more control authorities
Glasses forward acquisition request.
Second video glass, for forwarding acquisition request to the second remote controler.
Second remote controler, for after receiving acquisition request, if receiving the confirmation operation for acquisition request,
The acknowledgement notification for being directed to acquisition request is sent to the second video glass.
Second video glass is also used to forward acknowledgement notification to aircraft 101.
Aircraft 101 is also used to feed back acquisition request success to the first remote controler by the first video glass, and broadcasts one
Item or multiple control permission modification are all notices of first remote controler, and the video glass for being connected with remote controler is receiving
One or more control authorities that aircraft 101 is broadcasted are changed to after all notices of the first remote controler, can be to respectively connecting
The remote controler connect forwards one or more control authorities to be changed to all notices of the first remote controler.
Wherein, remote controler 104 pass through the video glass that is connected to the negotiation mode of master remote controller permission may include with
Under type:
Mode one, establishing between at least two video glass 103 has communication connection, and communication connection specifically can be nothing
Line connect (such as bluetooth, Wi-Fi etc.), be also possible to wired connection (such as USB etc.), request master remote controller permission it is distant
Acquisition request of the video glass that control device is connected to other video glasses broadcast remote controler, it may be assumed that at least two view
The first video glass in frequency glasses 103 receives the master remote controller that the first remote controler connecting with first video glass is sent
The acquisition request of permission.
Described in other the described video glass broadcast of first video glass at least two video glass 103
Acquisition request, and the acquisition request is reported to the aircraft 101.
Second video glass of current the second remote controler connection as master remote controller when receiving the acquisition request,
The acquisition request is forwarded to second remote controler.
Second remote controler is when receiving the acquisition request, if receiving the confirmation behaviour for the acquisition request
Make, then sends the acknowledgement notification for being directed to the acquisition request to second video glass.
Second video glass forwards the acknowledgement notification to the aircraft 101.
The aircraft 101 by first video glass to first remote controler feed back the acquisition request at
Function, and broadcast the notice that master remote controller is changed to first remote controler.
Mode two, the video glass that the remote controler of request master remote controller permission is connected to is reported to aircraft 101 to be obtained
Request is taken, forwards acquisition request, aircraft from aircraft 101 to the video glass that the current remote controler as master remote controller connects
101 records have the attaching information of master remote controller permission and remote controler, connect for example, can establish master remote controller permission with remote controler
The mapping table of the mark of the video glass arrived can determine which master remote controller permission currently belongs to by inquiring mapping table
The remote controler of a video glass connection is all, it may be assumed that the first video glass at least two video glass 103 receives and institute
The acquisition request for the master remote controller permission that the first remote controler of the first video glass connection is sent is stated, and to the aircraft 101
Report the acquisition request.
Described in the second video glass forwarding that the aircraft 101 is connected to current the second remote controler as master remote controller
Acquisition request.
Second video glass forwards the acquisition request to second remote controler.
Second remote controler is when receiving the acquisition request, if receiving the confirmation behaviour for the acquisition request
Make, then sends the acknowledgement notification for being directed to the acquisition request to second video glass.
Second video glass forwards the acknowledgement notification to the aircraft 101.
The aircraft 101 by first video glass to first remote controler feed back the acquisition request at
Function, and broadcast the notice that master remote controller is changed to first remote controler.
Optionally, it is connected in the video glass of remote controler, the remote controler of at least one video glass connection is connected with
User terminal 105.User terminal 105 is specifically as follows the PC such as desktop computer, laptop or smart phone, plate electricity
The mobile terminals such as brain, can be equipped on user terminal 105 using APP, be forwarded to remote controler to user terminal 105 by APP
Image data, Flight Condition Data, the electricity data of aircraft 101 etc. shown.
Wherein, user terminal can be connected to video glass to remote controler by the remote controler being connected to and send for flight
The operational order of device 101 forwards operational order from video glass to aircraft 101, it may be assumed that the first video glass receives described first
The operational order that first remote controler of video glass connection is sent, the operational order are the use connected by first remote controler
Family terminal is sent to first remote controler, and first video glass is that the remote controler of connection is connected with the view of user terminal
Any one in frequency glasses.
First video glass forwards the operational order to the aircraft.
In some possible embodiments, as shown in figure 3, at least two terminals 102 to be specifically as follows at least one distant
Control device 104 and at least two video glasses 103.
Optionally, at least one remote controler 104, at least one remote controler 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 glass 103,
Video glass can be in data packet (such as image data) the Shi Jinhang code rate handover operation for receiving the transmission of aircraft 101, it may be assumed that institute
It states aircraft 101 and sends data packet to the video glass.
The video glass obtains downlink reception parameter when receiving the data packet, and the downlink reception parameter includes
One or both of Signal to Noise Ratio (SNR) and BLER(block error rate) BLER.
The video glass judges whether the downlink reception parameter meets to carry out between preset at least two code rate
The switching condition of switching.
The video glass is receiving the process data packet when the downlink reception parameter meets the switching condition
In, it is switched between preset at least two code rate.
The video glass when the downlink reception parameter is unsatisfactory for the switching condition, send out by Xiang Suoshu aircraft 101
The notice for sending the video glass that can not switch between preset at least two code rate.
In addition, aircraft 101 can also carry out code rate when sending data packet at least two video glass 103
And/or the adjustment of modulation system, it may be assumed that the aircraft 101 receives at least two video glasses 103 and sends image transmitting feedback letter
Number, and according to the quantity of the image transmitting feedback signal of at least two video glasses and at least two video glass, adjustment
One or both of code rate from data packet at least two video glass, 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 glass 103,
The negotiation to one or more control authorities of aircraft may be implemented between at least two video glasses 103.At least two views
May include following manner to the negotiation mode of one or more control authorities of aircraft between frequency glasses 103:
Mode one, establishing between at least two video glass 103 has communication connection, and communication connection specifically can be nothing
Line connects (such as bluetooth, Wi-Fi etc.), is also possible to wired connection (such as USB etc.), one or more of request aircraft
Acquisition request of the video glass of item control authority to other video glasses broadcast remote controler, it may be assumed that at least two videos eye
Other video glasses of the first video glass at least two video glass 103 in mirror 103 are broadcasted to the flight
The acquisition request of one or more control authorities of device, and the acquisition request is reported to the aircraft 101.
Currently with the second video glass of one or more control authorities at least two video glass 103
After receiving the acquisition request, if receiving the confirmation operation for the acquisition request, to the aircraft 101
Send the acknowledgement notification for being directed to the acquisition request.
The aircraft 101 feeds back acquisition request success to first video glass, and broadcast described one or
Multiple control permission modification is all notices of first video glass.
Mode two, the video glass of one or more control authorities of request aircraft is reported to aircraft 101 to be obtained
Request is taken, forwards acquisition request, aircraft from aircraft 101 to the video glass currently with one or more control authorities
101 record have aircraft 101 each control authority and video glass attaching information, for example, can establish control authority with
The mapping table of video glass mark can determine that a certain item or multiple control permission currently belong to by inquiring mapping table
Which video glass is all, it may be assumed that the first video glass at least two video glass 103 is on the aircraft 101
Report the acquisition request to one or more control authorities of the aircraft.
The aircraft 101 currently has one or more controls at least two video glass 103
Second video glass of limit forwards the acquisition request.
Second video glass is after receiving the acquisition request, if receiving for the acquisition request really
Recognize operation, then sends the acknowledgement notification for being directed to the acquisition request to the aircraft 101.
The aircraft 101 feeds back acquisition request success to first video glass, and broadcast described one or
Multiple control permission modification is all notices of first video glass.
Optionally, at least one described remote controler 104 is specifically as follows at least two remote controlers 104.
Optionally, one or more controls to the aircraft may be implemented between at least two terminal 102
The menu setting of the negotiation of limit and/or at least two video glass.
It wherein, can to the negotiation mode of one or more control authorities of aircraft between at least two terminal 102
To include following manner:
Mode one, establishing between at least two terminal 102 has communication connection, and communication connection, which specifically can be, wirelessly to be connected
(such as bluetooth, Wireless Fidelity Wi-Fi etc.) is met, wired connection (such as general-purpose serial bus USB etc.), request are also possible to
Acquisition request of the terminal of one or more control authorities of aircraft to other terminal broadcast remote controlers, it may be assumed that described at least two
One to the aircraft of other terminal broadcasts of first terminal at least two terminal 102 in a terminal 102
Or the acquisition request of multiple control permission, and the acquisition request is reported 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, if receiving the confirmation operation for the acquisition request, it is directed to the aircraft 101 transmission
The acknowledgement notification of the acquisition request.
The aircraft 101 feeds back the acquisition request success to the first terminal, and broadcasts described one or more
Control authority is changed to all notices of the first terminal.
Mode two, the video glass of one or more control authorities of request aircraft is reported to aircraft 101 to be obtained
Request is taken, forwards acquisition request, aircraft from aircraft 101 to the video glass currently with one or more control authorities
101 record have aircraft 101 each control authority and video glass attaching information, for example, can establish control authority with
The mapping table of video glass mark can determine that a certain item or multiple control permission currently belong to by inquiring mapping table
Which video glass is all, it may be assumed that the first terminal at least two terminal 102 is reported to the aircraft 101 to described
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 forwards the acquisition request.
The second terminal is after receiving the acquisition request, if receiving the confirmation behaviour for the acquisition request
Make, then sends the acknowledgement notification for being directed to the acquisition request to the aircraft 101.
The aircraft 101 feeds back the acquisition request success to the first terminal, and broadcasts described one or more
Control authority is changed to all notices of the first terminal.
Wherein, communication connection is established between at least one described remote controler 104 and at least two video glass 103,
Menu setting can be carried out to video glass by remote controler, it may be assumed that the first video eye at least two video glass 103
Mirror receives the menu setting instruction that the first remote controler at least one described remote controler 104 is sent.
First video glass responds the menu setting instruction and sets to the menu on first video glass
It sets.
Optionally, at least one described remote controler 104, at least one remote controler is connected with user terminal 105, described
Communication connection is established between at least one remote controler 104 and at least two video glass 103, communication connection specifically can be
It is wirelessly connected (such as bluetooth, Wi-Fi etc.), is also possible to wired connection (such as USB etc.), user terminal 105 can pass through company
The remote controler being connected to sends operational order to aircraft 101, it may be assumed that the first remote controler receives the user of the first remote controler connection
The operational order that terminal 105 is sent, first remote controler is any one being connected in the remote controler of user terminal.
First remote controler forwards the operational order to the aircraft 101.
In some possible embodiments, as shown in figure 4, at least two terminal 102 is at least two remote controlers
104。
Optionally, one or more controls to the aircraft may be implemented between at least two remote controler 104
The negotiation of permission and/or the negotiation of the master remote controller permission also can have between certain at least two remote controler 104 identical
Control authority, coaching mode and student's mode can also be set between at least two remote controlers 104, allow coach's remote control
At least two student's remote controler of device band.In regulation allowed band, at least two remote controlers 104 can complete over the horizon relay and fly
Row.
Wherein, at least two remote controler 104 may include following manner to the negotiation mode of master remote controller permission:
Mode one, establishing between at least two remote controler 104 has communication connection, and communication connection specifically can be wireless
It connects (such as bluetooth, Wireless Fidelity Wi-Fi etc.), is also possible to wired connection (such as general-purpose serial bus USB etc.), request obtains
The remote controler of master remote controller permission is taken to broadcast acquisition request to other remote controlers, it may be assumed that at least two remote controler 104
The acquisition request of other remote controlers broadcast master remote controller permission of one remote controler at least two remote controler, and to described
Aircraft 101 reports the acquisition request.
It is currently asked as the second remote controler of master remote controller receiving the acquisition at least two remote controler 104
After asking, if receiving the confirmation operation for the acquisition request, sends to the aircraft 101 and asked for the acquisition
The acknowledgement notification asked.
The aircraft 101 feeds back the acquisition request success to first remote controler, and broadcasts master remote controller change
For the notice of first remote controler.
The remote controler of mode two, request master remote controller permission reports acquisition request to aircraft 101, by aircraft
101 to the current remote controler acquisition request as master remote controller, and the record of aircraft 101 has returning for master remote controller permission and remote controler
Belong to information, for example, can establish the mapping table of master remote controller permission and remote control identification, it can by inquiry mapping table
It is all to determine which remote controler is master remote controller permission currently belong to, it may be assumed that the first remote controler at least two remote controler 104
The acquisition request of master remote controller permission is reported to the aircraft 101.
The aircraft 101 currently forwards institute as the second remote controler of master remote controller at least two remote controler
State acquisition request.
Second remote controler is after receiving the acquisition request, if receiving the confirmation for the acquisition request
Operation then sends the acknowledgement notification for being directed to the acquisition request to the aircraft 101.
The aircraft 101 feeds back the acquisition request success to first remote controler, and broadcasts master remote controller change
For the notice of first remote controler.
Wherein, negotiation mode of at least two remote controler 104 to one or more control authorities of the aircraft
May include following manner:
Mode one, establishing between at least two remote controler 104 has communication connection, and communication connection specifically can be wireless
It connects (such as bluetooth, Wireless Fidelity Wi-Fi etc.), is also possible to wired connection (such as general-purpose serial bus USB etc.), request obtains
The remote controler of one or more control authorities of aircraft is taken to broadcast acquisition request to other remote controlers, it may be assumed that described at least two
Other remote controlers of the first remote controler at least two remote controler 104 in remote controler 104 are broadcasted to the aircraft
One or more control authorities acquisition request, and report the acquisition request to the aircraft 101.
Currently the second remote controler with one or more control authorities is connecing at least two remote controler 104
After receiving the acquisition request, if receiving the confirmation operation for the acquisition request, sent to the aircraft 101
For the acknowledgement notification of the acquisition request.
The aircraft 101 feeds back the acquisition request success to first remote controler, and broadcasts described one or more
Item control authority is changed to all notices of first remote controler.
The remote controler of mode two, one or more control authorities of request aircraft reports acquisition to aircraft 101
Request forwards acquisition request from aircraft 101 to the remote controler currently with one or more control authorities, and aircraft 101 is remembered
Record has each control authority of aircraft 101 and the attaching information of remote controler, for example, can establish control authority and remote controler mark
The mapping table of knowledge can determine which remote controler a certain item or multiple control permission currently belong to by inquiring mapping table
It is all, it may be assumed that the first remote controler at least two remote controler 104 is reported to the aircraft 101 to the aircraft
The acquisition request of one or more control authorities.
The aircraft 101 currently has one or more control authorities at least two remote controler 104
The second remote controler forward the acquisition request.
Second remote controler is after receiving the acquisition request, if receiving the confirmation for the acquisition request
Operation then sends the acknowledgement notification for being directed to the acquisition request to the aircraft 101.
The aircraft 101 feeds back the acquisition request success to first remote controler, and broadcasts described one or more
Item control authority is changed to all notices of first remote controler.
Optionally, at least two remote controler 104, at least one remote controler is connected with user terminal 105, user
Terminal 105 can send operational order to aircraft 101 by the remote controler that is connected to, it may be assumed that the first remote controler receives described the
The operational order that the user terminal 105 of one remote controler connection is sent, first remote controler is the remote control for being connected with user terminal
Any one in device.
First remote controler 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 controlers, at least two video glasses, at least one remote controler and at least two video glasses
It anticipates one kind, can carry out the negotiation of one or more control authorities of aircraft between video glass, it can be between remote controler
The negotiation of one or more control authorities of row aircraft and the negotiation of master remote controller permission, and video glass may also participate in
The negotiation of one or more control authorities of the aircraft carried out between remote controler and the negotiation of master remote controller permission, aircraft
Versatile and flexible with the connection type of remote controler and video glass, the control of aircraft is also more flexible, and scalability is strong.
Referring to Fig. 5, being the structural schematic diagram of another flight control system provided by the embodiments of the present application.Work as flight
Terminal that device distance establishes a connection distance farther out when, aircraft can be weaker with the signal strength of interaction between terminal, can
Interactive failure can be will lead to.Flight control system as described in this embodiment, comprising: aircraft 101 and terminal 106,
Wherein:
The aircraft 101 is communicated to connect for establishing with the terminal 106.
The terminal 106 is communicated to connect for establishing at least two terminals 102.
The terminal 106 is also used to complete reception to image data and/or forwarding and/or display, operating 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 electricity data and/
Or forwarding and/or display, the flight control to the aircraft, cradle head control, shoot control, the flight control to the aircraft
System, the feedback to remote controler setting, the negotiations of one or more control authorities of the aircraft, the negotiation of master remote controller permission
With link signalling interaction one of or it is a variety of；
Wherein, one or more control authorities of the aircraft include flight control authority, cradle head control permission and bat
Take the photograph one of control authority or a variety of.The communication connection that the aircraft 101 is established with the terminal 106 specifically can be
It is wirelessly connected (such as bluetooth, Wi-Fi etc.), the communication connection of the terminal 106 and the foundation of at least two terminals 102 specifically may be used
To be to be wirelessly connected (such as bluetooth, Wi-Fi etc.), it is also possible to wired connection (such as USB etc.).
Optionally, at least two terminal 102 be at least two video glasses or at least two remote controlers, at least two
Video glass, for providing FPV visual experience, at least two remote controlers, 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 permission, negotiation mode may include following manner:
Mode one, the terminal of one or more control authorities of request aircraft, which sends to obtain to terminal 106, asks
It asks, reports acquisition request from terminal 106 to aircraft 101, there is one to current by terminal 106 from aircraft 101
Or the terminal of multiple control permission forwards acquisition request, aircraft 101 records each control authority and terminal for having aircraft 101
Attaching information can be true by inquiry mapping table for example, can establish the mapping table of control authority and terminal iidentification
It is all which terminal fixed a certain item or multiple control permission currently belong to, it may be assumed that 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 the acquisition request.
The aircraft 101 currently has described one at least two terminal 102 by the terminal 106
Or the second terminal of multiple control permission forwards the acquisition request.
The second terminal is after receiving the acquisition request forwarded by the terminal 106, if receiving needle
To the confirmation operation of the acquisition request, is then sent by the terminal 106 to the aircraft 101 and asked for the acquisition
The acknowledgement notification asked.
The aircraft 101 feeds back the acquisition request success to the first terminal by the terminal 106, and wide
It broadcasts one or more control authorities and is changed to all notices of the first terminal.
Mode two, establishing between at least two terminal 102 has communication connection, and communication connection, which specifically can be, wirelessly to be connected
(such as bluetooth, Wireless Fidelity Wi-Fi etc.) is met, wired connection (such as general-purpose serial bus USB etc.), request are also possible to
The terminal of one or more control authorities of aircraft is to other terminal broadcast acquisition requests, it may be assumed that at least two terminal 102
In other terminal broadcasts one or more controls to the aircraft of the first terminal at least two terminal 102
The acquisition request of permission, and the acquisition request is reported 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
After the acquisition request, if receiving the confirmation operation for the acquisition request, by the terminal 106 to described
Aircraft 101 sends the acknowledgement notification for being directed to the acquisition request.
The aircraft 101 feeds back the acquisition request success to the first terminal by the terminal 106, and wide
It broadcasts one or more control authorities and is changed to all notices of the first terminal.
In some possible embodiments, as shown in fig. 6, at least two terminal 102 is at least two remote controlers
104, may be implemented between at least two remote controler 104 negotiation to one or more control authorities of aircraft and/or
The negotiation of master remote controller permission.Also it can have identical control authority between certain at least two remote controler 104, at least two
Coaching mode and student's mode can also be set between remote controler 104, allow coach remote controler at least two students of band distant
Control device.In regulation allowed band, at least two remote controlers 104 can complete over the horizon relay flight.Described at least two is distant
It controls in device 104, at least one remote controler is connected with user terminal 105, can be equipped on user terminal 105 using APP, be led to
Cross the image data that APP forwards remote controler to user terminal 105, Flight Condition Data, the electricity data of aircraft 101 etc. into
Row display.
Wherein, at least two remote controler 104 may include following manner to the negotiation mode of master remote controller permission:
The remote controler of mode one, request master remote controller permission sends acquisition request to terminal 106, by terminal
106 report acquisition request to aircraft 101, forward acquisition request from aircraft 101 to the current remote controler as master remote controller,
Aircraft 101 records the attaching information for having master remote controller permission and remote controler, for example, can establish master remote controller permission and remote control
The mapping table of device mark can determine which remote controler institute is master remote controller permission currently belong to by inquiring mapping table
Have, it may be assumed that the terminal 106 receives the master remote controller permission of the transmission of the first remote controler at least two remote controler 104
Acquisition request, and report the acquisition request to the aircraft 101.
The aircraft 101 is currently used as main remote control at least two remote controler 104 by the terminal 106
Second remote controler of device forwards the acquisition request.
Second remote controler is after receiving the acquisition request forwarded by the terminal 106, if receiving
For the confirmation operation of the acquisition request, is 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 request success to first remote controler by the terminal 106, and
Broadcast master remote controller is changed to the notice of first remote controler.
Mode two, establishing between at least two remote controler 104 has communication connection, and communication connection specifically can be wireless
It connects (such as bluetooth, Wi-Fi etc.), is also possible to wired connection (such as USB etc.), the remote control of request master remote controller permission
Device broadcasts acquisition request to other remote controlers, it may be assumed that the first remote controler at least two remote controler 104 is to described at least two
The acquisition request of other described remote controlers broadcast master remote controller permissions in a remote controler 104, and by the terminal 106 to
The aircraft 101 reports the acquisition request.
It is currently asked as the second remote controler of master remote controller receiving the acquisition at least two remote controler 104
After asking, if receiving the confirmation operation for the acquisition request, pass through the terminal 106 to the aircraft 101
Send the acknowledgement notification for being directed to the acquisition request.
The aircraft 101 feeds back the acquisition request success to first remote controler by the terminal 106, and
Broadcast master remote controller is changed to the notice of first remote controler.
In some possible embodiments, as shown in fig. 7, at least two terminal 102 is at least two video eyes
Mirror 103, video glass can by terminal 106 receive aircraft 101 send data packet (such as image data) when into
Row code rate handover operation, it may be assumed that the terminal 106 receives the data packet that the aircraft 101 is sent.
The terminal 106 forwards the data packet to the video glass.
The video glass obtains downlink reception parameter when receiving the data packet, and judges the downlink reception ginseng
Whether number meets the switching condition switched between preset at least two code rate, and the downlink reception parameter includes noise
Than one or both of SNR and BLER(block error rate) BLER.
The video glass is receiving the process data packet when the downlink reception parameter meets the switching condition
In, it is switched between preset at least two code rate.
The video glass when the downlink reception parameter is unsatisfactory for the switching condition, send out by Xiang Suoshu terminal 106
The notice for sending the video glass that can not switch between preset at least two code rate.
The terminal 106 forwards the video glass can not be described preset at least two to the aircraft 101
The notice switched between code rate.
Meanwhile aircraft 101 can also carry out code rate and/or modulation system when sending data packet to terminal 106
Adjustment, it may be assumed that
The aircraft 101 receives the image transmitting feedback letter that at least two video glass is sent by terminal
Number, and according to most image transmitting feedback signals of video glass and the quantity of at least two video glass, adjustment
Code rate from data packet to the terminal 106 and/or modulation system when sending, adaptive updates code rate.
In some possible embodiments, as shown in figure 8, at least two terminal 102 is at least two view
Frequency glasses 103, the aircraft 101 are also established at least one remote controler 104 and are communicated to connect, and communication connection specifically can be nothing
Line connects (such as bluetooth, Wi-Fi etc.).
Wherein, terminal can be passed through between at least two video glass 103 and at least one described remote controler 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 permission and video glass and/or remote controler, for example, can establish control authority and video glass mark and/or
The mapping table of remote control identification can determine which a certain item or multiple control permission currently belong to by inquiring mapping table
A video glass or which remote controler are all, including following two situation:
Situation one, one or more control authorities of aircraft described in remote controler request, current video glasses have
One or more control authorities, then: the first remote controler at least one described remote controler 104 is to the aircraft 101
Report the acquisition request to one or more control authorities of the aircraft.
The aircraft 101 currently has by the terminal 106 at least two video glass 103 described
First video glass of one or more control authorities forwards the acquisition request.
First video glass is after receiving the acquisition request forwarded by the terminal, if receiving needle
To the confirmation operation of the acquisition request, is then sent by the terminal 106 to the aircraft 101 and asked for the acquisition
The acknowledgement notification asked.
The aircraft 101 feeds back the acquisition request success to first remote controler, and broadcasts described one or more
Item control authority is changed to all notices of first remote controler.
Situation two, one or more control authorities of aircraft described in video glass request, current remote controler have
One or more control authorities, then: the terminal 106 receives the first view at least two video glass 103
The acquisition request of the one or more control authorities for the aircraft that frequency glasses are sent, and institute is reported to the aircraft 101
State acquisition request.
The aircraft 101 currently has one or more control authorities at least one described remote controler 104
The first remote controler forward the acquisition request.
First remote controler is after receiving the acquisition request, if receiving the confirmation for the acquisition request
Operation then sends the acknowledgement notification for being directed to the acquisition request to the aircraft 101.
The aircraft 101 feeds back the acquisition request success to first video glass by the terminal 106,
And it broadcasts one or more control authorities and is changed to all notices of first video glass.
Optionally, each of at least one described remote controler 104 remote controler is all communicated with the terminal 106 foundation
Connection, communication connection specifically can be wireless connection (such as bluetooth, Wi-Fi etc.), be also possible to wired connection (such as USB
Deng).
Wherein, menu setting can be carried out to video glass by terminal 106 by remote controler, it may be assumed that described at least two
The first remote controler that the first video glass in a video glass 103 receives at least one described remote controler 104 passes through described
The menu setting instruction that terminal 106 is sent.
First video glass responds the menu setting instruction and sets to the menu on first video glass
It sets.
Optionally, at least one described remote controler 104 is a remote controler.
Wherein, terminal 106 can be passed through between at least two video glass 103 and one remote controler 104
Realize the negotiation to one or more control authorities of aircraft.Aircraft 101 records each control authority for having aircraft 101
With the attaching information of video glass and/or remote controler, identifies and/or be remotely controlled with video glass for example, can establish control authority
The mapping table of device mark can determine which view a certain item or multiple control permission currently belong to by inquiring mapping table
Frequency glasses or which remote controler are all, including following two situation:
Situation one, one or more control authorities of aircraft described in one remote controler request, current video
Glasses have one or more control authorities, then: one remote controler 104 is sent to the terminal 106 to described
The acquisition request of one or more control authorities of aircraft, and the acquisition request is reported to the aircraft 101.
The terminal 106 broadcasts the acquisition request at least two video glass 103.
Currently with the first video glass of one or more control authorities at least two video glass 103
After receiving the acquisition request, if receiving the confirmation operation for the acquisition request, pass through the terminal
106 send the acknowledgement notification for being directed to the acquisition request to the aircraft 101.
The aircraft 101 feeds back acquisition request success to one remote controler 104, and broadcast described one or
Multiple control permission modification is all notices of one remote controler.
Situation two, one or more control authorities of aircraft described in video glass request are presently described one distant
Controlling device has one or more control authorities, then: the terminal 106 receives at least two video glass 103
The acquisition request of one or more control authorities to the aircraft that sends of the first video glass, and to the aircraft
101 report the acquisition request.
Other videos of the terminal 106 into one remote controler 104 and at least two video glass 103
Glasses broadcast the acquisition request.
Currently with one or more control authorities one remote controler receive the acquisition request it
Afterwards, it if receiving the confirmation operation for the acquisition request, sends to the aircraft 101 for the acquisition request
Acknowledgement notification.
The aircraft 101 feeds back the acquisition request success to first video glass by the terminal 106,
And it broadcasts one or more control authorities and is changed to all notices of first video glass.
Optionally, at least one described remote controler 104 is at least two remote controlers 104.
Wherein, at least two remote controler 104 can be completed to one or more control authorities of the aircraft
Negotiation and/or the negotiation of the master remote controller permission.
Wherein, at least two remote controler 104 may include following manner to the negotiation mode of master remote controller permission:
Mode one, establishing between at least two remote controler 104 has communication connection, and communication connection specifically can be wireless
It connects (such as bluetooth, Wi-Fi etc.), is also possible to wired connection (such as USB etc.), the remote control of request master remote controller permission
Device broadcasts acquisition request to other remote controlers, it may be assumed that the first remote controler at least two remote controler 104 is to described at least two
The acquisition request of other remote controlers broadcast master remote controller permission in a remote controler, and described obtain is reported to the aircraft 101
Take request.
It is currently asked as the second remote controler of master remote controller receiving the acquisition at least two remote controler 104
After asking, if receiving the confirmation operation for the acquisition request, sends to the aircraft 101 and asked for the acquisition
The acknowledgement notification asked.
The aircraft 101 feeds back the acquisition request success to first remote controler, and broadcasts master remote controller change
For the notice of first remote controler.
The remote controler of mode two, request master remote controller permission reports acquisition request to aircraft 101, by aircraft
101 to the current remote controler acquisition request as master remote controller, and the record of aircraft 101 has returning for master remote controller permission and remote controler
Belong to information, for example, can establish the mapping table of master remote controller permission and remote control identification, it can by inquiry mapping table
It is all to determine which remote controler is master remote controller permission currently belong to, it may be assumed that the first remote controler at least two remote controler 104
The acquisition request of master remote controller permission is reported to the aircraft 101.
The aircraft 101 currently forwards institute as the second remote controler of master remote controller at least two remote controler
State acquisition request.
Second remote controler is after receiving the acquisition request, if receiving the confirmation for the acquisition request
Operation then sends the acknowledgement notification for being directed to the acquisition request to the aircraft 101.
The aircraft 101 feeds back the acquisition request success to first remote controler, and broadcasts master remote controller change
For the notice of first remote controler.
Wherein, negotiation mode of at least two remote controler 104 to one or more control authorities of the aircraft
May include following manner:
Mode one, establishing between at least two remote controler 104 has communication connection, and communication connection specifically can be wireless
It connects (such as bluetooth, Wireless Fidelity Wi-Fi etc.), is also possible to wired connection (such as general-purpose serial bus USB etc.), request obtains
The remote controler of one or more control authorities of aircraft is taken to broadcast acquisition request to other remote controlers, it may be assumed that described at least two
Other remote controlers of the first remote controler at least two remote controler 104 in remote controler 104 are broadcasted to the aircraft
One or more control authorities acquisition request, and report the acquisition request to the aircraft 101.
Currently the second remote controler with one or more control authorities is connecing at least two remote controler 104
After receiving the acquisition request, if receiving the confirmation operation for the acquisition request, sent to the aircraft 101
For the acknowledgement notification of the acquisition request.
The aircraft 101 feeds back the acquisition request success to first remote controler, and broadcasts described one or more
Item control authority is changed to all notices of first remote controler.
The remote controler of mode two, one or more control authorities of request aircraft reports acquisition to aircraft 101
Request forwards acquisition request from aircraft 101 to the remote controler currently with one or more control authorities, and aircraft 101 is remembered
Record has each control authority of aircraft 101 and the attaching information of remote controler, for example, can establish control authority and remote controler mark
The mapping table of knowledge can determine which remote controler a certain item or multiple control permission currently belong to by inquiring mapping table
It is all, it may be assumed that the first remote controler at least two remote controler 104 is reported to the aircraft 101 to the aircraft
The acquisition request of one or more control authorities.
The aircraft 101 currently has one or more control authorities at least two remote controler 104
The second remote controler forward the acquisition request.
Second remote controler is after receiving the acquisition request, if receiving the confirmation for the acquisition request
Operation then sends the acknowledgement notification for being directed to the acquisition request to the aircraft 101.
The aircraft 101 feeds back the acquisition request success to first remote controler, and broadcasts described one or more
Item control authority is changed to all notices of first remote controler.
Wherein, terminal can be passed through between at least two video glass 103 and at least two remote controler 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 permission and video glass and/or remote controler, for example, can establish control authority and video glass mark and/or
The mapping table of remote control identification can determine which a certain item or multiple control permission currently belong to by inquiring mapping table
A video glass or which remote controler are all, including following two situation:
Situation one, one or more control authorities of aircraft described in remote controler request, current video glasses have
One or more control authorities, then: the first remote controler at least two remote controler 104 is distant to described at least two
Other described remote controlers and the terminal 106 in control device 104 broadcast one or more control authorities to the aircraft
Acquisition request, and report the acquisition request to the aircraft 101.
The terminal 106 broadcasts the acquisition request at least two video glass 103.
Currently with the first video glass of one or more control authorities at least two video glass 103
After receiving the acquisition request, if receiving the confirmation operation for the acquisition request, pass through the terminal
106 send the acknowledgement notification for being directed to the acquisition request to the aircraft 101.
The aircraft 101 feeds back the acquisition request success to first remote controler, and broadcasts described one or more
Item control authority is changed to all notices of first remote controler.
Situation two, one or more control authorities of aircraft described in video glass request, current remote controler have
One or more control authorities, then: the terminal 106 receives the first video at least two video glass 103
The acquisition request for one or more control authorities to the aircraft that glasses are sent, and institute is reported to the aircraft 101
State acquisition request.
Other at least two remote controler 104 and at least two video glass 103 of the terminal 106
Video glass broadcasts the acquisition request.
Currently the first remote controler with one or more control authorities is connecing at least two remote controler 104
After receiving the acquisition request, if receiving the confirmation operation for the acquisition request, sent to the aircraft 101
For the acknowledgement notification of the acquisition request.
The aircraft 101 feeds back the acquisition request success to first video glass by the terminal 106,
And it broadcasts one or more control authorities and is changed to all notices of first video glass.
Flight control system in the embodiment of the present application, including aircraft and terminal, terminal can be at least two
Any one foundation in a remote controler, at least two video glasses, at least one remote controler and at least two video glasses 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 glasses
Quotient can carry out negotiation and the master of one or more control authorities of aircraft between at least two remote controlers by terminal
The negotiation of remote controler permission.It is communicated to connect in addition, aircraft can also be established at least one remote controler, at least one remote controler
Between can also directly carry out or by terminal carry out aircraft one or more control authorities negotiation and master it is distant
The negotiation of device permission is controlled, so that the connection type of aircraft and terminal, remote controler and video glass is versatile and flexible, aircraft
Control is also more flexible, and scalability is strong.
Referring to Fig. 9, being a kind of flow diagram of flying vehicles control method provided by the embodiments of the present application.The present embodiment
Described in flying vehicles control method, be applied to flight control system, the flight control system include aircraft and
At least two terminals, which comprises
S101, aircraft are established at least two terminals communicate to connect respectively.
Wherein, at least two terminals specifically can be that at least two remote controlers, at least two video glasses, at least one is distant
Any one in device and at least two video glasses 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 controler specifically can be used for completing reception and/or forwarding, the reception of running state data to image data
And/or forwarding, the reception of exercise data and/or forwarding, the reception of electricity data and/or forwarding, to the setting of video glass, right
Flight control, cradle head control, the shooting control, the negotiation of one or more control authorities of aircraft, master remote controller of aircraft
One of the negotiation of permission and link signalling interaction are a variety of.
Video glass specifically can be used for completing reception to image data and/or forwarding and/or display, operating 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 electricity data
And/or forwarding and/or display, flight control, cradle head control, the shooting of aircraft are controlled, 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 permission and the link letter of remote controler setting
Enable one of interaction or a variety of.
Wherein, one or more control authorities of the aircraft include flight control authority, cradle head control permission and bat
Take the photograph one of control authority or a variety of.
S102, at least two terminal carry out data interaction with the aircraft by the communication connection.
In some possible embodiments, at least two terminal is specifically as follows at least two videos eye
Mirror, for providing FPV visual experience simultaneously at least two users.
Optionally, at least one video glass at least two video glass is respectively connected with a remote controler,
For controlling the flight of aircraft.
Optionally, at least two video glasses at least two video glass are respectively connected with a remote controler,
For controlling the flight of aircraft.
Optionally, one or more to aircraft may be implemented at least two video glass and/or the remote controler
The item negotiation of control authority and/or the negotiation of master remote controller permission.
The case where at least two video glasses at least two video glass are respectively connected with a remote controler
Under, remote controler can be realized to one or more control authorities of aircraft between remote controler by the video glass that is connected to
Negotiation and/or the negotiation of master remote controller permission.
Wherein, remote controler passes through the video glass that is connected to the negotiation mode of one or more control authorities of aircraft
May include following manner:
Mode one, establishing between at least two video glass has communication connection, and communication connection specifically can be wireless
It connects (such as bluetooth, Wireless Fidelity Wi-Fi etc.), is also possible to wired connection (such as general-purpose serial bus USB etc.), request obtains
The video glass for taking the remote controler of one or more control authorities of aircraft to be connected to broadcasts remote controler to other video glasses
Acquisition request, it may be assumed that it is distant that the first video glass at least two video glasses receives first connect with the first video glass
Control the acquisition request for one or more control authorities to aircraft that device is sent.
Other video glasses at least two video glasses of first video glass broadcast acquisition request, and to aircraft
Report acquisition request.
The second video glass that currently the second remote controler with one or more control authorities connects is receiving acquisition
When request, acquisition request is forwarded to the second remote controler.
Second remote controler is after receiving acquisition request, if receiving the confirmation operation for acquisition request, to
Two video glasses send the acknowledgement notification for being directed to acquisition request, wherein confirmation operation for example can pass through the second remote control by user
The combination of specified button or at least two keys on device triggers.
Second video glass is also used to forward acknowledgement notification to aircraft.
Aircraft, for by the first video glass to the first remote controler feed back acquisition request success, and broadcast one or
Multiple control permission modification is all notices of the first remote controler.The video glass of remote controler is connected with to receive aircraft wide
The one or more control authorities broadcast are changed to after all notices of the first remote controler, can be turned to the remote controler respectively connected
Sending out control authority one or more is changed to all notices of the first remote controler.
The remote controler of mode two, one or more control authorities of request aircraft is connected to video glass to flight
Device reports acquisition request, the video glass forwarding connected from aircraft to the remote controler currently with one or more control authorities
Acquisition request, aircraft record has each control authority of aircraft and the attaching information of video glass, for example, can establish control
The mapping table of permission processed and video glass mark can determine a certain item or multiple control permission by inquiring mapping table
It is all to currently belong to which video glass, it may be assumed that the first video glass at least two video glasses receives and the first video eye
The acquisition request for one or more control authorities to aircraft that first remote controler of mirror connection is sent, and reported to aircraft
The acquisition request.
Aircraft, the second video glass for being connected to the second remote controler currently with one or more control authorities
Forward acquisition request.
Second video glass, for forwarding acquisition request to the second remote controler.
Second remote controler, for after receiving acquisition request, if receiving the confirmation operation for acquisition request,
The acknowledgement notification for being directed to acquisition request is sent to the second video glass.
Second video glass is also used to forward acknowledgement notification to aircraft.
Aircraft is also used to feed back acquisition request success to the first remote controler by the first video glass, and broadcasts one
Or multiple control permission modification is all notice of first remote controler, be connected with the video glass of remote controler receive it is winged
One or more control authorities of row device broadcast are changed to after all notices of the first remote controler, can be distant to what is respectively connected
Control device forwards one or more control authorities to be changed to all notices of the first remote controler.
Wherein, it may include with lower section to the negotiation mode of master remote controller permission that remote controler, which passes through the video glass being connected to,
Formula:
Mode one, establishing between at least two video glass has communication connection, and communication connection specifically can be wireless
It connects (such as bluetooth, Wi-Fi etc.), is also possible to wired connection (such as USB etc.), the remote control of request master remote controller permission
Acquisition request of the video glass that device is connected to other video glasses broadcast remote controler, it may be assumed that at least two video
The first video glass in glasses receives the master remote controller permission that the first remote controler connecting with first video glass is sent
Acquisition request.
It is obtained described in other the described video glass broadcast of first video glass at least two video glass
Request is taken, and reports the acquisition request to the aircraft.
Second video glass of current the second remote controler connection as master remote controller when receiving the acquisition request,
The acquisition request is forwarded to second remote controler.
Second remote controler is when receiving the acquisition request, if receiving the confirmation behaviour for the acquisition request
Make, then sends the acknowledgement notification for being directed to the acquisition request to second video glass.
Second video glass forwards the acknowledgement notification to the aircraft.
The aircraft feeds back the acquisition request success to first remote controler by first video glass, and
Broadcast master remote controller is changed to the notice of first remote controler.
Mode two, the video glass that the remote controler of request master remote controller permission is connected to report acquisition to ask to aircraft
It asks, forwards acquisition request from aircraft to the video glass that the current remote controler as master remote controller connects, aircraft record has
The attaching information of master remote controller permission and remote controler, for example, can establish master remote controller permission and the video that remote controler is connected to
The mapping table of the mark of glasses can determine which video eye is master remote controller permission currently belong to by inquiring mapping table
The remote controler of mirror connection is all, it may be assumed that the first video glass at least two video glass receives and first video
The acquisition request for the master remote controller permission that first remote controler of glasses connection is sent, and report the acquisition to ask to the aircraft
It asks.
It is obtained described in the second video glass forwarding that the aircraft is connected to current the second remote controler as master remote controller
Take request.
Second video glass forwards the acquisition request to second remote controler.
Second remote controler is when receiving the acquisition request, if receiving the confirmation behaviour for the acquisition request
Make, then sends the acknowledgement notification for being directed to the acquisition request to second video glass.
Second video glass forwards the acknowledgement notification to the aircraft.
The aircraft feeds back the acquisition request success to first remote controler by first video glass, and
Broadcast master remote controller is changed to the notice of first remote controler.
Optionally, it is connected in the video glass of remote controler, the remote controler of at least one video glass connection is connected with
User terminal.User terminal is specifically as follows the shifting such as the PC such as desktop computer, laptop or smart phone, tablet computer
Terminal is moved, the image data using APP, forwarded to remote controler to user terminal by APP can be installed on user terminal, flown
Flight Condition Data, electricity data of row device etc. are shown.
Wherein, user terminal can be connected to video glass to remote controler by the remote controler being connected to and send for flight
The operational order of device forwards operational order from video glass to aircraft, it may be assumed that the first video glass receives the first video eye
The operational order that first remote controler of mirror connection is sent, the operational order are the user terminals connected by first remote controler
It is sent to first remote controler, first video glass is that the remote controler of connection is connected with the video glass of user terminal
In any one.
First video glass forwards the operational order to the aircraft.
In some possible embodiments, as shown in figure 3, at least two terminals are specifically as follows at least one remote controler
With at least two video glasses.
Optionally, at least one remote controler, at least one remote controler is connected with user terminal.
Wherein, as shown in Figures 2 and 3, in the case where at least two terminals include at least two video glasses, the view
Frequency glasses can be in data packet (such as image data) the Shi Jinhang code rate handover operation for receiving aircraft transmission, it may be assumed that described to fly
Row device sends data packet to the video glass.
The video glass obtains downlink reception parameter when receiving the data packet, and the downlink reception parameter includes
One or both of Signal to Noise Ratio (SNR) and BLER(block error rate) BLER.
The video glass judges whether the downlink reception parameter meets to carry out between preset at least two code rate
The switching condition of switching.
The video glass is receiving the process data packet when the downlink reception parameter meets the switching condition
In, it is switched between preset at least two code rate.
For the video glass when the downlink reception parameter is unsatisfactory for the switching condition, Xiang Suoshu aircraft sends institute
State the notice that video glass can not switch between preset at least two code rate.
Meanwhile aircraft can also carry out code rate and/or modulation methods when sending data packet at least two video glasses
The adjustment of formula, it may be assumed that
The aircraft receives at least two video glass and sends image transmitting feedback signal, and according to it is described at least
The image transmitting feedback signal of two video glasses and the quantity of at least two video glass, adjust to the video glass
Code rate and/or modulation system when transmission data packet, adaptive updates code rate.
Wherein, as shown in Figures 2 and 3, in the case where at least two terminals include at least two video glasses, at least two
The negotiation to one or more control authorities of aircraft may be implemented between a video glass.Between at least two video glasses
Negotiation mode to one or more control authorities of aircraft may include following manner:
Mode one, establishing between at least two video glass has communication connection, and communication connection specifically can be wireless
Connect (such as bluetooth, Wi-Fi etc.), be also possible to wired connection (such as USB etc.), request aircraft it is one or more
Acquisition request of the video glass of control authority to other video glasses broadcast remote controler, it may be assumed that at least two video glass
In other video glasses broadcast of first video glass at least two video glass to one of the aircraft
Or the acquisition request of multiple control permission, and the acquisition request is reported to the aircraft.
Currently the second video glass with one or more control authorities exists at least two video glass
After receiving the acquisition request, if receiving the confirmation operation for the acquisition request, sent to the aircraft
For the acknowledgement notification of the acquisition request.
The aircraft feeds back the acquisition request success to first video glass, and broadcasts described one or more
Control authority is changed to all notices of first video glass.
The video glass of mode two, one or more control authorities of request aircraft reports acquisition to ask to aircraft
It asks, forwards acquisition request from aircraft to the video glass currently with one or more control authorities, aircraft record has winged
Each control authority of row device and the attaching information of video glass, for example, can establish control authority and video glass mark
Mapping table can determine which video glass institute a certain item or multiple control permission currently belong to by inquiring mapping table
Have, it may be assumed that the first video glass at least two video glass reports one to the aircraft to the aircraft
Or the acquisition request of multiple control permission.
The aircraft at least two video glass currently with one or more control authorities the
Two video glasses forward the acquisition request.
Second video glass is after receiving the acquisition request, if receiving for the acquisition request really
Recognize operation, then sends the acknowledgement notification for being directed to the acquisition request to the aircraft.
The aircraft feeds back the acquisition request success to first video glass, and broadcasts described one or more
Control authority is changed to all notices of first video glass.
Optionally, at least one described remote controler is specifically as follows at least two remote controlers.
Optionally, it may be implemented between at least two terminal to one or more control authorities of the aircraft
The menu setting of negotiation and/or at least two video glass.
Wherein, the negotiation mode of one or more control authorities of aircraft can wrap between at least two terminal
Include following manner:
Mode one, establishing between at least two terminal has communication connection, and communication connection specifically can be wireless connection
(such as bluetooth, Wireless Fidelity Wi-Fi etc.), is also possible to wired connection (such as general-purpose serial bus USB etc.), and request flies
Acquisition request of the terminal of one or more control authorities of row device to other terminal broadcast remote controlers, it may be assumed that described at least two
One or more controls of other terminal broadcasts of first terminal at least two terminal to the aircraft in terminal
The acquisition request of permission processed, and the acquisition request is reported to the aircraft.
Currently have the second terminal of one or more control authorities receiving at least two terminal
After stating acquisition request, if receiving the confirmation operation for the acquisition request, send to the aircraft for described
The acknowledgement notification of acquisition request.
The aircraft feeds back the acquisition request success to the first terminal, and broadcasts one or more controls
Permission modification is all notices of the first terminal.
The video glass of mode two, one or more control authorities of request aircraft reports acquisition to ask to aircraft
It asks, forwards acquisition request from aircraft to the video glass currently with one or more control authorities, aircraft record has winged
Each control authority of row device and the attaching information of video glass, for example, can establish control authority and video glass mark
Mapping table can determine which video glass institute a certain item or multiple control permission currently belong to by inquiring mapping table
Have, it may be assumed that the first terminal at least two terminal reports one or more controls to the aircraft to the aircraft
The acquisition request of permission processed.
The aircraft currently has the second end of one or more control authorities at least two terminal
End forwards the acquisition request.
The second terminal is after receiving the acquisition request, if receiving the confirmation behaviour for the acquisition request
Make, then sends the acknowledgement notification for being directed to the acquisition request to the aircraft.
The aircraft feeds back the acquisition request success to the first terminal, and broadcasts one or more controls
Permission modification is all notices of the first terminal.
Wherein, communication connection is established between at least one described remote controler and at least two video glass, by distant
Menu setting can be carried out to video glass by controlling device, it may be assumed that the first video glass at least two video glass receives institute
State the menu setting instruction that the first remote controler at least one remote controler is sent.
First video glass responds the menu setting instruction and sets to the menu on first video glass
It sets.
Optionally, at least one described remote controler, at least one remote controler is connected with user terminal, and described at least one
Communication connection is established between a remote controler and at least two video glass, communication connection specifically can be wireless connection (example
Such as bluetooth, Wi-Fi), be also possible to wired connection (such as USB etc.), user terminal can by the remote controler that is connected to
Aircraft sends operational order, it may be assumed that the operation that the user terminal that the first remote controler receives the first remote controler connection is sent refers to
It enables, first remote controler is any one being connected in the remote controler of user terminal.
First remote controler forwards the operational order to the aircraft.
In some possible embodiments, as shown in figure 4, at least two terminal is at least two remote controlers.
Optionally, one or more control authorities to the aircraft may be implemented between at least two remote controler
Negotiation and/or the master remote controller permission negotiation, also can have identical control between certain at least two remote controler
Permission can also be arranged coaching mode and student's mode between at least two remote controlers, allow coach's remote controler band at least
Two student's remote controlers.In regulation allowed band, at least two remote controlers can complete over the horizon relay flight.
Wherein, at least two remote controler may include following manner to the negotiation mode of master remote controller permission:
Mode one, establishing between at least two remote controler has communication connection, and communication connection, which specifically can be, wirelessly to be connected
(such as bluetooth, Wireless Fidelity Wi-Fi etc.) is met, wired connection (such as general-purpose serial bus USB etc.), request are also possible to
The remote controler of master remote controller permission broadcasts acquisition request to other remote controlers, it may be assumed that first at least two remote controler is distant
The acquisition request of other remote controlers broadcast master remote controller permission of the device at least two remote controler is controlled, and to the flight
Device reports the acquisition request.
The acquisition request currently is being received as the second remote controler of master remote controller at least two remote controler
Later, it if receiving the confirmation operation for the acquisition request, sends to the aircraft for the acquisition request
Acknowledgement notification.
The aircraft feeds back the acquisition request success to first remote controler, and broadcasts master remote controller and be changed to institute
State the notice of the first remote controler.
The remote controler of mode two, request master remote controller permission reports acquisition request to aircraft, from aircraft to working as
The preceding remote controler acquisition request as master remote controller, aircraft record the attaching information for having master remote controller permission and remote controler, example
Such as, the mapping table that can establish master remote controller permission and remote control identification can determine that master is distant by inquiring mapping table
Control device permission currently belongs to which remote controler is all, it may be assumed that the first remote controler at least two remote controler is to the flight
Device reports the acquisition request of master remote controller permission.
The aircraft is at least two remote controler described in currently the second remote controler forwarding as master remote controller
Acquisition request.
Second remote controler is after receiving the acquisition request, if receiving the confirmation for the acquisition request
Operation then sends the acknowledgement notification for being directed to the acquisition request to the aircraft.
The aircraft feeds back the acquisition request success to first remote controler, and broadcasts master remote controller and be changed to institute
State the notice of the first remote controler.
Wherein, at least two remote controler can be with to the negotiation mode of one or more control authorities of the aircraft
Including following manner:
Mode one, establishing between at least two remote controler has communication connection, and communication connection, which specifically can be, wirelessly to be connected
(such as bluetooth, Wireless Fidelity Wi-Fi etc.) is met, wired connection (such as general-purpose serial bus USB etc.), request are also possible to
The remote controler of one or more control authorities of aircraft broadcasts acquisition request to other remote controlers, it may be assumed that described at least two is distant
Control other remote controlers broadcast of the first remote controler in device at least two remote controler to one of the aircraft or
The acquisition request of multiple control permission, and the acquisition request is reported to the aircraft.
Currently the second remote controler with one or more control authorities is receiving at least two remote controler
To after the acquisition request, if receiving the confirmation operation for the acquisition request, it is directed to aircraft transmission
The acknowledgement notification of the acquisition request.
The aircraft feeds back the acquisition request success to first remote controler, and broadcasts one or more controls
Permission modification processed is all notices of first remote controler.
The remote controler of mode two, one or more control authorities of request aircraft reports acquisition to ask to aircraft
It asks, forwards acquisition request from aircraft to the remote controler currently with one or more control authorities, aircraft record has flight
Each control authority of device and the attaching information of remote controler, for example, can establish, control authority is corresponding with remote control identification to be closed
It is table, can determine that a certain item or multiple control permission currently belong to which remote controler owns by inquiring mapping table, it may be assumed that institute
It states the first remote controler at least two remote controlers and reports one or more controls to the aircraft to the aircraft
The acquisition request of limit.
The aircraft currently has the second of one or more control authorities at least two remote controler
Remote controler forwards the acquisition request.
Second remote controler is after receiving the acquisition request, if receiving the confirmation for the acquisition request
Operation then sends the acknowledgement notification for being directed to the acquisition request to the aircraft.
The aircraft feeds back the acquisition request success to first remote controler, and broadcasts one or more controls
Permission modification processed is all notices of first remote controler.
Optionally, at least two remote controler, at least one remote controler is connected with user terminal, and user terminal can
To send operational order to aircraft by the remote controler being connected to, it may be assumed that the first remote controler receives the first remote controler connection
User terminal send operational order, first remote controler is any one being connected in the remote controler of user terminal.
First remote controler 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 controlers, at least two video glasses, at least one remote controler and at least two video glasses
It anticipates one kind, can carry out the negotiation of one or more control authorities of aircraft between video glass, it can be between remote controler
The negotiation of one or more control authorities of row aircraft and the negotiation of master remote controller permission, and video glass may also participate in
The negotiation of one or more control authorities of the aircraft carried out between remote controler and the negotiation of master remote controller permission, aircraft
Versatile and flexible with the connection type of remote controler and video glass, the control of aircraft is also more flexible, and scalability is strong.
Referring to Fig. 10, for the flow diagram of another flying vehicles control method provided by the embodiments of the present application.This reality
Flying vehicles control method described in example is applied, flight control system is applied to, the flight control system includes flight
Device and at least two terminals, which comprises
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 and/or forwarding and/or display to image data, running state data
It receives and/or forwarding and/or display, the reception of exercise data and/or forwarding and/or display, the reception of electricity data and/or turns
Hair and/or display, to the flight control of the aircraft, cradle head control, the feedback, described shooting control, remote controler is arranged
One of the negotiation of one or more control authorities of aircraft, the negotiation of master remote controller permission and link signalling interaction are more
Kind.
Wherein, one or more control authorities of the aircraft include flight control authority, cradle head control permission and bat
Take the photograph one of control authority or a variety of.The communication connection that the aircraft is established with the terminal, which specifically can be, wirelessly to be connected
It connects (such as bluetooth, Wi-Fi etc.), the communication connection of the terminal and the foundation of at least two terminals specifically can be wireless connection
(such as bluetooth, Wi-Fi etc.) is also possible to wired connection (such as USB etc.).
Optionally, at least two terminal is at least two video glasses or at least two remote controlers, at least two views
Frequency glasses, for providing FPV visual experience, at least two remote controlers, 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 permission processed, negotiation mode may include following manner:
The terminal of mode one, one or more control authorities of request aircraft sends acquisition request to terminal,
Report acquisition request from terminal to aircraft, from aircraft by terminal to currently with one or more control authorities
Terminal forwards acquisition request, and aircraft record has each control authority of aircraft and the attaching information of terminal, for example, can build
The mapping table of vertical control authority and terminal iidentification can determine a certain item or multiple control permission by inquiring mapping table
Currently belong to which terminal is all, it may be assumed that the terminal receive the transmission of the first terminal at least two terminal to institute
The acquisition request of one or more control authorities of aircraft is stated, and reports the acquisition request to the aircraft.
The aircraft currently has one or more controls at least two terminal by the terminal
The second terminal of permission processed forwards the acquisition request.
The second terminal is after receiving the acquisition request forwarded by the terminal, if receiving for institute
State the confirmation operation of acquisition request, then it is logical for the confirmation of the acquisition request to aircraft transmission by the terminal
Know.
The aircraft feeds back the acquisition request success to the first terminal by the terminal, 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 specifically can be wireless connection
(such as bluetooth, Wireless Fidelity Wi-Fi etc.), is also possible to wired connection (such as general-purpose serial bus USB etc.), and request flies
The terminal of one or more control authorities of row device is to other terminal broadcast acquisition requests, it may be assumed that at least two terminal
Other terminal broadcasts of first terminal at least two terminal are to one or more control authorities of the aircraft
Acquisition request, and the acquisition request is reported to the aircraft by the terminal.
Currently have the second terminal of one or more control authorities receiving at least two terminal
After stating acquisition request, if receiving the confirmation operation for the acquisition request, by the terminal to the flight
Device sends the acknowledgement notification for being directed to the acquisition request.
The aircraft feeds back the acquisition request success to the first terminal by the terminal, and described in broadcast
One or more control authorities are changed to all notices of the first terminal.
In some possible embodiments, as shown in fig. 6, at least two terminal is at least two remote controlers, institute
Stating, which may be implemented between at least two remote controlers, weighs the negotiation of one or more control authorities of aircraft and/or master remote controller
The negotiation of limit.Also it can have identical control authority between certain at least two remote controler, between at least two remote controlers 104
Coaching mode and student's mode can also be set, at least two student's remote controler of coach's remote controler band is allowed.Permit in regulation
Perhaps in range, at least two remote controlers can complete over the horizon relay flight.In at least two remote controler, at least one
Remote controler is connected with user terminal, can be equipped on user terminal using APP, is turned to remote controler to user terminal by APP
Image data, the Flight Condition Data of aircraft, electricity data of hair etc. are shown.
Wherein, at least two remote controler may include following manner to the negotiation mode of master remote controller permission:
Mode one, the remote controler of request master remote controller permission send acquisition request to terminal, from terminal to flying
Row device reports acquisition request, forwards acquisition request from aircraft to the current remote controler as master remote controller, aircraft record has
The attaching information of master remote controller permission and remote controler, for example, can establish, master remote controller permission is corresponding with remote control identification to be closed
It is table, can determine that master remote controller permission currently belongs to which remote controler owns by inquiring mapping table, it may be assumed that the terminal
Receive the acquisition request for the master remote controller permission that the first remote controler at least two remote controler is sent, and to the flight
Device reports the acquisition request.
The aircraft by the terminal at least two remote controler currently as master remote controller second
Remote controler forwards the acquisition request.
Second remote controler is directed to after receiving the acquisition request forwarded by the terminal if receiving
The confirmation operation of the acquisition request then sends the confirmation for being directed to the acquisition request by the terminal to the aircraft
Notice.
The aircraft feeds back the acquisition request success to first remote controler by the terminal, and broadcasts master
Remote controler is changed to the notice of first remote controler.
Mode two, establishing between at least two remote controler has communication connection, and communication connection, which specifically can be, wirelessly to be connected
(such as bluetooth, Wi-Fi etc.) is met, is also possible to wired connection (such as USB etc.), the remote controler of request master remote controller permission
Acquisition request is broadcasted to other remote controlers, it may be assumed that the first remote controler at least two remote controler is distant to described at least two
The acquisition request of other remote controler broadcast master remote controller permissions in device is controlled, and passes through the terminal to the aircraft
Report the acquisition request.
The acquisition request currently is being received as the second remote controler of master remote controller at least two remote controler
Later, it if receiving the confirmation operation for the acquisition request, is directed to by the terminal to aircraft transmission
The acknowledgement notification of the acquisition request.
The aircraft feeds back the acquisition request success to first remote controler by the terminal, and broadcasts master
Remote controler is changed to the notice of first remote controler.
In some possible embodiments, as shown in fig. 7, at least two terminal is at least two video glasses,
The video glass can be cut receiving data packet (such as image data) Shi Jinhang code rate that aircraft is sent by terminal
Change operation, it may be assumed that the terminal receives the data packet that the aircraft is sent.
The terminal forwards the data packet to the video glass.
The video glass obtains downlink reception parameter when receiving the data packet, and judges the downlink reception ginseng
Whether number meets the switching condition switched between preset at least two code rate, and the downlink reception parameter includes noise
Than one or both of SNR and BLER(block error rate) BLER.
The video glass is receiving the process data packet when the downlink reception parameter meets the switching condition
In, it is switched between preset at least two code rate.
For the video glass when the downlink reception parameter is unsatisfactory for the switching condition, Xiang Suoshu terminal sends institute
State the notice that video glass can not switch between preset at least two code rate.
The terminal to the aircraft forward the video glass can not preset at least two code rate it
Between the notice that switches over.
Meanwhile aircraft can also carry out the adjustment of code rate and/or modulation system when sending data packet to terminal,
That is:
The aircraft receives the image transmitting feedback signal of at least two video glass of the terminal forwarding,
And the quantity of the image transmitting feedback signal of at least two video glass and at least two video glass, it adjusts to institute
State terminal send data packet when code rate and/or modulation system.
In some possible embodiments, as shown in figure 8, at least two terminal is at least two videos eye
Mirror, the aircraft also at least one remote controler establish communicate to connect, communication connection specifically can be wirelesss connection (such as indigo plant
Tooth, Wi-Fi etc.).
Wherein, terminal realization pair can be passed through between at least two video glass and at least one described remote controler
The negotiation of one or more control authorities of aircraft.Aircraft records each control authority and video glass for having aircraft
And/or the attaching information of remote controler, for example, can establish pair of control authority and video glass mark and/or remote control identification
Answer relation table, by inquire mapping table can determine a certain item or multiple control permission currently belong to which video glass or which
A remote controler is all, including following two situation:
Situation one, one or more control authorities of aircraft described in remote controler request, current video glasses have
One or more control authorities, then: the first remote controler at least one described remote controler 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 glass by the terminal
First video glass of item control authority forwards the acquisition request.
First video glass is after receiving the acquisition request forwarded by the terminal, if receiving needle
To the confirmation operation of the acquisition request, then sent to the aircraft for the acquisition request really by the terminal
Recognize notice.
The aircraft feeds back the acquisition request success to first remote controler, and broadcasts one or more controls
Permission modification processed is all notices of first remote controler.
Situation two, one or more control authorities of aircraft described in video glass request, current remote controler have
One or more control authorities, then: the terminal receives the first video glass at least two video glass
The acquisition request of one or more control authorities of the aircraft sent, and report the acquisition to ask to the aircraft
It asks.
The aircraft currently has the first of one or more control authorities at least one described remote controler
Remote controler forwards the acquisition request.
First remote controler is after receiving the acquisition request, if receiving the confirmation for the acquisition request
Operation then sends the acknowledgement notification for being directed to the acquisition request to the aircraft.
The aircraft feeds back the acquisition request success to first video glass by the terminal, and broadcasts
One or more control authorities are changed to all notices of first video glass.
Optionally, each of at least one described remote controler remote controler is all established with the terminal and is communicated to connect,
Communication connection specifically can be wireless connection (such as bluetooth, Wi-Fi etc.), be also possible to wired connection (such as USB etc.).
Wherein, menu setting can be carried out to video glass by terminal by remote controler, it may be assumed that at least two view
The first remote controler that the first video glass in frequency glasses receives at least one described remote controler is sent by the terminal
Menu setting instruction.
First video glass responds the menu setting instruction and sets to the menu on first video glass
It sets.
Optionally, at least one described remote controler is a remote controler.
Wherein, it can be realized by terminal to flight between at least two video glass and one remote controler
The negotiation of one or more control authorities of device.Aircraft record have aircraft each control authority and video glass and/or
The attaching information of remote controler, for example, can establish the corresponding relationship of control authority and video glass mark and/or remote control identification
Table can determine a certain item or multiple control permission currently belong to which video glass or which remote control by inquiring mapping table
Device is all, including following two situation:
Situation one, one or more control authorities of aircraft described in one remote controler request, current video
Glasses have one or more control authorities, then: one remote controler is sent to the terminal to the aircraft
One or more control authorities acquisition request, and report the acquisition request to the aircraft.
The terminal broadcasts the acquisition request at least two video glass.
Currently the first video glass with one or more control authorities exists at least two video glass
After receiving the acquisition request, if receiving the confirmation operation for the acquisition request, by the terminal to
The aircraft sends the acknowledgement notification for being directed to the acquisition request.
The aircraft feeds back the acquisition request success to one remote controler, and broadcasts one or more controls
Permission modification processed is all notices of one remote controler.
Situation two, one or more control authorities of aircraft described in video glass request are presently described one distant
Controlling device has one or more control authorities, then: the terminal receives first at least two video glass
The acquisition request for one or more control authorities to the aircraft that video glass is sent, and institute is reported to the aircraft
State acquisition request.
Other video glasses broadcast of the terminal into one remote controler and at least two video glass
The acquisition request.
Currently with one or more control authorities one remote controler receive the acquisition request it
Afterwards, it if receiving the confirmation operation for the acquisition request, is sent to the aircraft for the acquisition request really
Recognize notice.
The aircraft feeds back the acquisition request success to first video glass by the terminal, and broadcasts
One or more control authorities are changed to all notices of first video glass.
Optionally, at least one described remote controler is at least two remote controlers.
Wherein, at least two remote controler can complete the negotiation to one or more control authorities of the aircraft
And/or the negotiation of the master remote controller permission.
Wherein, at least two remote controler may include following manner to the negotiation mode of master remote controller permission:
Mode one, establishing between at least two remote controler has communication connection, and communication connection, which specifically can be, wirelessly to be connected
(such as bluetooth, Wi-Fi etc.) is met, is also possible to wired connection (such as USB etc.), the remote controler of request master remote controller permission
Acquisition request is broadcasted to other remote controlers, it may be assumed that the first remote controler at least two remote controler is distant to described at least two
The acquisition request of other remote controlers broadcast master remote controller permission in device is controlled, and reports the acquisition request to the aircraft.
The acquisition request currently is being received as the second remote controler of master remote controller at least two remote controler
Later, it if receiving the confirmation operation for the acquisition request, sends to the aircraft for the acquisition request
Acknowledgement notification.
The aircraft feeds back the acquisition request success to first remote controler, and broadcasts master remote controller and be changed to institute
State the notice of the first remote controler.
The remote controler of mode two, request master remote controller permission reports acquisition request to aircraft, from aircraft to working as
The preceding remote controler acquisition request as master remote controller, aircraft record the attaching information for having master remote controller permission and remote controler, example
Such as, the mapping table that can establish master remote controller permission and remote control identification can determine that master is distant by inquiring mapping table
Control device permission currently belongs to which remote controler is all, it may be assumed that the first remote controler at least two remote controler is to the flight
Device reports the acquisition request of master remote controller permission.
The aircraft is at least two remote controler described in currently the second remote controler forwarding as master remote controller
Acquisition request.
Second remote controler is after receiving the acquisition request, if receiving the confirmation for the acquisition request
Operation then sends the acknowledgement notification for being directed to the acquisition request to the aircraft.
The aircraft feeds back the acquisition request success to first remote controler, and broadcasts master remote controller and be changed to institute
State the notice of the first remote controler.
Wherein, at least two remote controler can be with to the negotiation mode of one or more control authorities of the aircraft
Including following manner:
Mode one, establishing between at least two remote controler has communication connection, and communication connection, which specifically can be, wirelessly to be connected
(such as bluetooth, Wireless Fidelity Wi-Fi etc.) is met, wired connection (such as general-purpose serial bus USB etc.), request are also possible to
The remote controler of one or more control authorities of aircraft broadcasts acquisition request to other remote controlers, it may be assumed that described at least two is distant
Control other remote controlers broadcast of the first remote controler in device at least two remote controler to one of the aircraft or
The acquisition request of multiple control permission, and the acquisition request is reported to the aircraft.
Currently the second remote controler with one or more control authorities is receiving at least two remote controler
To after the acquisition request, if receiving the confirmation operation for the acquisition request, it is directed to aircraft transmission
The acknowledgement notification of the acquisition request.
The aircraft feeds back the acquisition request success to first remote controler, and broadcasts one or more controls
Permission modification processed is all notices of first remote controler.
The remote controler of mode two, one or more control authorities of request aircraft reports acquisition to ask to aircraft
It asks, forwards acquisition request from aircraft to the remote controler currently with one or more control authorities, aircraft record has flight
Each control authority of device and the attaching information of remote controler, for example, can establish, control authority is corresponding with remote control identification to be closed
It is table, can determine that a certain item or multiple control permission currently belong to which remote controler owns by inquiring mapping table, it may be assumed that institute
It states the first remote controler at least two remote controlers and reports one or more controls to the aircraft to the aircraft
The acquisition request of limit.
The aircraft currently has the second of one or more control authorities at least two remote controler
Remote controler forwards the acquisition request.
Second remote controler is after receiving the acquisition request, if receiving the confirmation for the acquisition request
Operation then sends the acknowledgement notification for being directed to the acquisition request to the aircraft.
The aircraft feeds back the acquisition request success to first remote controler, and broadcasts one or more controls
Permission modification processed is all notices of first remote controler.
Wherein, terminal realization pair can be passed through between at least two video glass and at least two remote controler
The negotiation of one or more control authorities of aircraft.Aircraft records each control authority and video glass for having aircraft
And/or the attaching information of remote controler, for example, can establish pair of control authority and video glass mark and/or remote control identification
Answer relation table, by inquire mapping table can determine a certain item or multiple control permission currently belong to which video glass or which
A remote controler is all, including following two situation:
Situation one, one or more control authorities of aircraft described in remote controler request, current video glasses have
One or more control authorities, then: the first remote controler at least two remote controler is remotely controlled to described at least two
Other described remote controlers and terminal broadcast in device ask the acquisition of one or more control authorities of the aircraft
It asks, and reports the acquisition request to the aircraft.
The terminal broadcasts the acquisition request at least two video glass.
Currently the first video glass with one or more control authorities exists at least two video glass
After receiving the acquisition request, if receiving the confirmation operation for the acquisition request, by the terminal to
The aircraft sends the acknowledgement notification for being directed to the acquisition request.
The aircraft feeds back the acquisition request success to first remote controler, and broadcasts one or more controls
Permission modification processed is all notices of first remote controler.
Situation two, one or more control authorities of aircraft described in video glass request, current remote controler have
One or more control authorities, then: the terminal receives the first video glass hair at least two video glass
The acquisition request for the one or more control authorities to the aircraft sent, and report the acquisition to ask to the aircraft
It asks.
Other video glasses of the terminal at least two remote controler and at least two video glass
Broadcast the acquisition request.
Currently the first remote controler with one or more control authorities is receiving at least two remote controler
To after the acquisition request, if receiving the confirmation operation for the acquisition request, it is directed to aircraft transmission
The acknowledgement notification of the acquisition request.
The aircraft feeds back the acquisition request success to first video glass by the terminal, and broadcasts
One or more control authorities are changed to all notices of first video glass.
Flight control system in the embodiment of the present application, including aircraft and terminal, terminal can be at least two
Any one foundation in a remote controler, at least two video glasses, at least one remote controler and at least two video glasses 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 glasses
Quotient can carry out negotiation and the master of one or more control authorities of aircraft between at least two remote controlers by terminal
The negotiation of remote controler permission.It is communicated to connect in addition, aircraft can also be established at least one remote controler, at least one remote controler
Between can also directly carry out or by terminal carry out aircraft one or more control authorities negotiation and master it is distant
The negotiation of device permission is controlled, so that the connection type of aircraft and terminal, remote controler and video glass is versatile and flexible, aircraft
Control is also more flexible, and scalability is strong.
Figure 11 is please referred to, is a kind of structural schematic diagram of terminal provided by the embodiments of the present application.Described in the present embodiment
Terminal, comprising: communication device 1000, processor 2000, above-mentioned processor 2000 are connect with communication device 1000.
Wherein, above-mentioned communication device 1000 is specifically as follows radio-frequency transmissions/receiver or radio frequency chip, specifically, leads to
T unit 1000 may include the transmitting path (Transmitter, TX) integrated and receiver (Receiver,
RX).Above-mentioned processor 2000 is specifically as follows microcontroller, baseband processor, baseband chip, digital signal processor
(Digital Signal Processor, DSP) or including baseband processor and application processor at interior system on chip (SOC)
Deng.Above-mentioned memory 3000 is the memory device of terminal, for storing program and data.It is understood that storage herein
Device 3000 can be high speed RAM memory, be also possible to non-labile memory (non-volatile memory), such as
At least one magnetic disk storage；It optionally can also be that at least one is located remotely from the storage device of aforementioned processor 2000.
Above-mentioned memory 3000, is used to store a set of program code, and above-mentioned processor 2000 calls to be deposited in memory 3000
The program code of storage, performs the following operations:
Communication device 1000 is communicated to connect for establishing with aircraft.
Processor 2000, for carrying out data interaction with the aircraft by the communication connection.
In some possible embodiments, the processor 2000 is also used to through the communication device 1000, Xiang Qi
His terminal broadcast reports described obtain to the aircraft to the acquisition requests of one or more control authorities of the aircraft
Take request.
The communication device 1000 is also used to receive the acquisition request success notification of the aircraft feedback.
In some possible embodiments, the processor 2000 is also used to through the communication device 1000, to institute
It states aircraft and reports acquisition request to one or more control authorities of the aircraft.
The communication device 1000 is also used to receive the acquisition request success notification of the aircraft feedback.
In some possible embodiments, the terminal is video glass.
In some possible embodiments, the video glass is connected with a remote controler.
In some possible embodiments, the communication device 1000 is also used to receive the video glass connection
The acquisition request for one or more control authorities to the aircraft that one remote controler is sent.
The processor 2000, is also used to through the communication device 1000, broadcasts the acquisition to other video glasses
Request, and the acquisition request is reported to the aircraft.
The communication device 1000 is also used to receive the acquisition request success of the aircraft feedback.
The communication device 1000 is also used to feed back the acquisition request success to one remote controler, and forwards institute
State notice.
In some possible embodiments, the communication device 1000 is also used to receive the video glass connection
The acquisition request for one or more control authorities to the aircraft that one remote controler is sent.
The processor 2000 is also used to through the communication device 1000, and Xiang Suoshu aircraft reports the acquisition to ask
It asks.
The communication device 1000 is also used to receive the acquisition request success of the aircraft feedback.
The communication device 1000 is also used to feed back the acquisition request success to one remote controler, and forwards institute
State notice.
In some possible embodiments, the communication device 1000 is also used to receive the video glass connection
The acquisition request for the master remote controller permission that one remote controler is sent.
The processor 2000, is also used to through the communication device 1000, broadcasts the acquisition to other video glasses
Request, and the acquisition request is reported to the aircraft.
The communication device 1000 is also used to receive the acquisition request success notification of the aircraft feedback.
The communication device 1000 is also used to feed back the acquisition request success to one remote controler, and forwards institute
State notice.
In some possible embodiments, the communication device 1000, is also used to receive carry under the video glass
One remote controler send master remote controller permission acquisition request.
The processor 2000 is also used to through the communication device 1000, and Xiang Suoshu aircraft reports the acquisition to ask
It asks.
The communication device 1000 is also used to receive the acquisition request success notification of the aircraft feedback.
The communication device 1000 is also used to feed back the acquisition request success to one remote controler, and forwards institute
State notice.
In some possible embodiments, the processor 2000 is also used to receive by the communication device 1000
The menu setting instruction that one remote controler is sent.
The processor 2000 is also used to respond the menu setting instruction, carries out to the menu on the video glass
Setting.
In some possible embodiments, the terminal is remote controler.
In some possible embodiments, the processor 2000 is also used to through the communication device 1000, Xiang Qi
The acquisition request of his remote controler broadcast master remote controller permission, and the acquisition request is reported to the aircraft.
The communication device 1000 is also used to receive the acquisition request success of the aircraft feedback.
In some possible embodiments, the processor 2000 is also used to through the communication device 1000, to institute
State the acquisition request that aircraft reports master remote controller permission.
The communication device 1000 is also used to receive the acquisition request success notification of the aircraft feedback.
In some possible embodiments, the communication device 1000, be also used to terminal, the terminal and its
One or more control authorities of aircraft described in one of his remote controler broadcast transmission are requested.
The communication device 1000 is also used to receive the acquisition request success of the aircraft feedback.
In some possible embodiments, the remote controler is connected with user terminal,
The processor 2000, is also used to through the communication device 1000, carries out data interaction with the user terminal.
In some possible embodiments, the communication device 1000 is also used to receive the number that the aircraft is sent
According to packet.
The processor 2000, is also used 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, is also used to judge whether the downlink reception parameter meets in preset at least two code rate
Between the switching condition that switches over.
The processor 2000 is also used to when the downlink reception parameter meets the switching condition, described in reception
In process data packet, switched between preset at least two code rate.
The communication device 1000 is also used to when the downlink reception parameter is unsatisfactory for the switching condition, Xiang Suoshu
Aircraft sends the notice that the video glass can not switch between preset at least two code rate.
In some possible embodiments, the communication device 1000 is to establish to connect by terminal and the aircraft
It connects.
In the specific implementation, the application can be performed in communication device 1000 and processor 2000 described in the embodiment of the present application
The implementation of terminal described in a kind of flight control system that embodiment provides, details are not described herein.
In the embodiment of the present application, terminal and aircraft directly establish communication connection, or are built by terminal and aircraft
Negotiation and/or master remote controller permission that other terminals complete one or more control authorities of aircraft are combined in vertical communication connection
Negotiation, terminal specifically can be video glass or remote controler, and the terminal controlled aircraft can carry out diversified group
It closes, so that the more flexible multiplicity of the control of aircraft.
Figure 12 is please referred to, is a kind of structural schematic diagram of aircraft provided by the embodiments of the present application.It is retouched in the present embodiment
The aircraft stated, comprising: communication device 1000, flight controller 4000 are connect with communication device 1000.
Wherein, above-mentioned communication device 1000 is specifically as follows radio frequency reception/transmitter or radio frequency chip, specifically, leads to
T unit 1000 may include the transmitting path (Transmitter, TX) integrated and receiver (Receiver,
RX).Above-mentioned flight controller 4000 is specifically as follows microcontroller, baseband processor, baseband chip, digital signal processor
(Digital Signal Processor, DSP) or including baseband processor and application processor at interior system on chip (SOC)
Deng.Above-mentioned memory 3000 is the memory device of aircraft, for storing program and data.It is understood that depositing herein
Reservoir 3000 can be high speed RAM memory, be also possible to non-labile memory (non-volatile memory), example
Such as at least one magnetic disk storage；It optionally can also be that at least one is located remotely from the storage of aforementioned flight controller 4000 dress
It sets.
Above-mentioned memory 3000, is used to store a set of program code, and above-mentioned flight controller 4000 calls memory 3000
The program code of middle storage, performs the following operations:
Communication device 1000 is communicated to connect for establishing at least two terminals.
Flight controller 4000, for carrying out data interaction at least two terminal by the communication connection.
In some possible embodiments, the communication device 1000 is also used to receive at least two terminal
The acquisition request of one or more control authorities to the aircraft that reports of first terminal.
The communication device 1000 is also used to receive at least two terminal currently one with the aircraft
Or the acknowledgement notification for the acquisition request that the second terminal of multiple control permission is sent.
The flight controller 4000, is also used to respond the acknowledgement notification, passes through the communication device 1000, Xiang Suoshu
First terminal feeds back the acquisition request success notification.
In some possible embodiments, the communication device 1000 is also used to receive at least two terminal
First terminal send one or more control authorities to the aircraft acquisition request.
The communication device 1000 is also used at least two terminal currently have one or more controls
The second terminal of permission forwards the acquisition request.
It is logical to be also used to receive the confirmation for the acquisition request that the second terminal is sent for the communication device 1000
Know.
The flight controller 4000, is also used to respond the acknowledgement notification, passes through the communication device, Xiang Suoshu first
Terminal feeds back the acquisition request success notification.
In some possible embodiments, the communication device 1000 of the aircraft establishes the described of communication connection
At least two terminals be include at least two video glasses.
In some possible embodiments, the communication device 1000 is also used 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 also used to be sent according at least two video glass are anti-
The quantity of feedback signal and at least two video glass adjusts code rate when sending data packet to first video glass
And/or modulation system.
In some possible embodiments, the aircraft is established and is connected by the video glass and a remote controler
It connects.
In some possible embodiments, the communication device 1000 is also used to receive at least two videos eye
The acquisition request for the master remote controller permission that the first video glass in mirror is sent, the acquisition request is by the first video eye
What the first remote controler of mirror connection was sent to first video glass.
The communication device 1000 is also used at least two video glass and current the as master remote controller
Second video glass of two remote controlers connection forwards the acquisition request.
The communication device 1000 is also used to receive second remote controler and passes through the needle that second video glass is sent
To the acknowledgement notification of the acquisition request.
The flight controller 4000, is also used to respond the acknowledgement notification, by first video glass to described
First remote controler feeds back the acquisition request success notification.
In some possible embodiments, the communication device 1000 is also used to receive at least two videos eye
The acquisition request for the master remote controller permission that the first video glass in mirror reports, the acquisition request are by the first video eye
What the first remote controler of mirror connection was sent to first video glass.
The communication device 1000 is also used to receive at least two video glass with current as master remote controller
The acknowledgement notification for the acquisition request of the second video glass forwarding of second remote controler connection.
The flight controller 4000, is also used to respond the acknowledgement notification, by the communication device 1000, passes through institute
It states the first video glass and feeds back the acquisition request success notification to first remote controler.
In some possible embodiments, the communication device 1000 is also used to receive at least two videos eye
The acquisition request for one or more control authorities to the aircraft that the first video glass in mirror is sent, the acquisition are asked
What Seeking Truth was sent from the first remote controler that first video glass connects to first video glass.
The communication device 1000 is also used at least two video glass and currently has described one or more
Second video glass of the second remote controler connection of item control authority forwards the acquisition request.
The communication device 1000 is also used to receive second remote controler and passes through the needle that second video glass is sent
To the acknowledgement notification of the acquisition request.
The flight controller 4000, is also used to respond the acknowledgement notification, by the communication device 1000, passes through institute
It states the first video glass and feeds back the acquisition request success notification to first remote controler.
In some possible embodiments, the communication device 1000 is also used to receive at least two videos eye
The acquisition request for one or more control authorities to the aircraft that the first video glass in mirror reports, the acquisition are asked
What Seeking Truth was sent from the first remote controler that first video glass connects to first video glass.
The communication device 1000, be also used to receive at least two video glass with currently have described one or
The acknowledgement notification for the acquisition request of the second video glass forwarding of the second remote controler connection of multiple control permission.
The flight controller 4000, is also used to respond the acknowledgement notification, by the communication device 1000, passes through institute
It states the first video glass and feeds back the acquisition request success notification to first remote controler.
In some possible embodiments, the communication device 1000 of the aircraft establishes the described of communication connection
At least two terminals be include at least two remote controlers.
In some possible embodiments, the communication device 1000 is also used to receive at least two remote controler
In the acquisition request of master remote controller permission that reports of the first remote controler.
The communication device 1000 is also used to receive at least two remote controler second currently as master remote controller
The acknowledgement notification for the acquisition request that remote controler is sent.
The flight controller 4000, is also used to respond the acknowledgement notification, passes through the communication device 1000, Xiang Suoshu
First remote controler feeds back the acquisition request success notification.
In some possible embodiments, the communication device 1000 is also used to receive at least two remote controler
In the acquisition request of master remote controller permission that reports of the first remote controler.
The communication device 1000 is also used to second distant at least two remote controler currently as master remote controller
It controls device and forwards the acquisition request.
The communication device 1000 is also used to receive the confirmation for the acquisition request that second remote controler is sent
Notice.
The flight controller 4000, is also used to respond the acknowledgement notification, passes through the communication device 1000, Xiang Suoshu
First remote controler feeds back the acquisition request success notification.
In some possible embodiments, the communication device 1000 of the aircraft establishes the described of communication connection
At least two terminals be include at least one remote controler and at least two video glasses.
In some possible embodiments, the communication device 1000 of the aircraft passes through terminal and at least two
A video glass establishes communication connection, and the communication device 1000 of the aircraft is also communicated with the foundation of at least one remote controler
Connection.
In some possible embodiments, the communication device 1000 is also used to receive at least one described remote controler
In the first remote controler send one or more control authorities to the aircraft acquisition request.
The communication device 1000 is also used to currently have by the terminal at least two video glass
First video glass of one or more control authorities forwards the acquisition request.
The communication device 1000 is also used to receive first video glass by what the terminal was sent and is directed to institute
State the acknowledgement notification of acquisition request.
The flight controller 4000, is also used to respond the acknowledgement notification, passes through the communication device 1000, Xiang Suoshu
First remote controler feeds back the acquisition request success notification.
In some possible embodiments, the communication device 1000 is also used to receive at least two videos eye
The acquisition for one or more control authorities to the aircraft that the first video glass in mirror is reported by the terminal
Request.
The communication device 1000 is also used at least one described remote controler currently have one or more controls
First remote controler of permission processed forwards the acquisition request.
The communication device 1000 is also used to receive the confirmation for the acquisition request that first remote controler is sent
Notice.
The flight controller 4000, is also used to respond the acknowledgement notification, by the communication device 1000, passes through institute
It states terminal and feeds back the acquisition request success notification to first video glass.
In some possible embodiments, at least one described remote controler is a remote controler,
The communication device 1000 is also used to receive one or more to the aircraft that one remote controler reports
The acquisition request of item control authority.
The communication device 1000, being also used to receive at least two video glass currently has described one or more
The acknowledgement notification for the acquisition request that first video glass of item control authority is sent by the terminal.
The flight controller 4000, is also used to respond the acknowledgement notification, passes through the communication device 1000, Xiang Suoshu
One remote controler feeds back the acquisition request success notification.
In some possible embodiments, at least one described remote controler is a remote controler,
The communication device 1000 is also used to receive the first video glass at least two video glass and passes through institute
State the acquisition request for one or more control authorities to the aircraft that terminal reports.
The communication device 1000 is also used 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, is also used to respond the acknowledgement notification, by the communication device 1000, passes through institute
It states terminal and feeds back the acquisition request success notification to first video glass.
In some possible embodiments, at least one described remote controler is at least two remote controlers,
The communication device 1000, is also used to receive that the first remote controler at least two remote controler reports to institute
State the acquisition request of one or more control authorities of aircraft.
The communication device 1000, being also used to receive at least two video glass currently has described one or more
The acknowledgement notification for the acquisition request that first video glass of item control authority is sent by the terminal.
The flight controller 4000 is also used to through the communication device 1000, and the first remote controler of Xiang Suoshu feeds back institute
State acquisition request success notification.
In some possible embodiments, at least one described remote controler is at least two remote controlers,
The communication device 1000 is also used to receive the first video glass at least two video glass and passes through institute
State the acquisition request for one or more control authorities to the aircraft that terminal reports.
The communication device 1000 is also used to receive at least two remote controler currently with described one or more
The acknowledgement notification for the acquisition request that first remote controler of control authority is sent.
The flight controller 4000, is also used to respond the acknowledgement notification, by the communication device 1000, passes through institute
It states terminal and feeds back the acquisition request success notification to first video glass.
In the specific implementation, communication device 1000 and flight controller 4000 described in the embodiment of the present application are executable originally
Apply for the implementation of aircraft described in a kind of flight control system of embodiment offer, details are not described herein.
In the embodiment of the present application, aircraft can be established at least two terminals and be communicated to connect, and at least two terminals can be with
It is at least two video glasses and/or at least two remote controlers and/or terminal, the control for receiving at least two terminals, which is realized, to fly
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 permission and/or the negotiation of master remote controller permission, so that the more flexible multiplicity of the control of aircraft, enhances the reality of aircraft
The property used.
Figure 13 is please referred to, is the flow diagram of another flying vehicles control method provided by the embodiments of the present application.This reality
Apply flying vehicles control method described in example, comprising:
S301, terminal and aircraft, which are established, to be communicated to connect.
S302, the terminal carry out data interaction with the aircraft by the communication connection.
In some possible embodiments, the method also includes:
The terminal to other terminal broadcasts to the acquisition request of one or more control authorities of the aircraft, and to
The aircraft reports the acquisition request.
The terminal receives the acquisition request success notification of the aircraft feedback.
In some possible embodiments, the method also includes:
The terminal sends the acquisition request to one or more control authorities of the aircraft to the aircraft.
The terminal receives the acquisition request success notification of the aircraft feedback.
In some possible embodiments, the terminal is video glass.
In some possible embodiments, the video glass is connected with a remote controler.
In some possible embodiments, the method also includes:
The terminal receives one to the aircraft that one remote controler of the video glass connection is sent
Or the acquisition request of multiple control permission.
The terminal broadcasts the acquisition request to other video glasses, and reports the acquisition to ask to the aircraft
It asks.
The terminal receives the acquisition request success notification of the aircraft feedback.
The terminal forwards the acquisition request success notification to one remote controler.
In some possible embodiments, the method also includes:
The terminal receives one to the aircraft that one remote controler of the video glass connection is sent
Or the acquisition request of multiple control permission.
The terminal reports the acquisition request to the aircraft.
The terminal receives the acquisition request success notification of the aircraft feedback.
The terminal forwards the acquisition request success notification to one remote controler.
In some possible embodiments, the method also includes:
The acquisition for the master remote controller permission that one remote controler that the terminal receives the video glass connection is sent
Request.
The terminal broadcasts the acquisition request to other video glasses, and reports the acquisition to ask to the aircraft
It asks.
The terminal receives the acquisition request success notification of the aircraft feedback.
The terminal forwards the acquisition request success notification to one remote controler.
In some possible embodiments, the method also includes:
The acquisition for the master remote controller permission that one remote controler that the terminal receives the video glass connection is sent
Request.
The terminal reports the acquisition request to the aircraft.
The terminal receives the acquisition request success notification of the aircraft feedback.
The terminal forwards the acquisition request success notification to one remote controler.
In some possible embodiments, the method also includes:
The terminal receives the setting instruction that one remote controler is sent.
The terminal responds the setting instruction, is configured to the video glass.
In some possible embodiments, the terminal is remote controler.
In some possible embodiments, the method also includes:
The terminal and is reported to the aircraft described to the acquisition request of other remote controlers broadcast master remote controller permission
Acquisition request.
The terminal receives the acquisition request success notification of the aircraft feedback.
In some possible embodiments, the method also includes:
The terminal sends the acquisition request of master remote controller permission to the aircraft.
The terminal receives the acquisition request success notification of the aircraft feedback.
In some possible embodiments, the method also includes:
The terminal to aircraft described in one of terminal, the terminal and other remote controlers broadcast transmission one
Item or multiple control authority request.
The terminal receives the acquisition request success notification of the aircraft feedback.
In some possible embodiments, the remote controler is connected with user terminal, the method also includes:
The terminal and the user terminal carry out data interaction.
In some possible embodiments, the method also includes:
When the video glass receives the data packet that the aircraft is sent, downlink reception parameter is obtained, the downlink connects
Receiving parameter includes one or both of Signal to Noise Ratio (SNR) and BLER(block error rate) BLER.
The video glass judges whether the downlink reception parameter meets to carry out between preset at least two code rate
The switching condition of switching.
The video glass is receiving the process data packet when the downlink reception parameter meets the switching condition
In, it is switched between preset at least two code rate.
For the video glass when the downlink reception parameter is unsatisfactory for the switching condition, Xiang Suoshu aircraft sends institute
State the notice that video glass can not switch between preset at least two code rate.
In some possible embodiments, the terminal is to establish connection by terminal and the aircraft.
In the specific implementation, the specific implementation of method and step described in the embodiment of the present application may refer to the application implementation
Implementation described in a kind of flying vehicles control method that example diagram 9 or Figure 10 are provided, details are not described herein.
In the embodiment of the present application, terminal and aircraft directly establish communication connection, or are built by terminal and aircraft
Negotiation and/or master remote controller permission that other terminals complete one or more control authorities of aircraft are combined in vertical communication connection
Negotiation, terminal specifically can be video glass or remote controler, and the terminal controlled aircraft can carry out diversified group
It closes, so that the more flexible multiplicity of the control of aircraft.
Figure 14 is please referred to, is the flow diagram of another flying vehicles control method provided by the embodiments of the present application.This reality
Apply flying vehicles control method described in example, comprising:
S401, aircraft and at least two terminals, which are established, to be communicated to connect.
S402, the aircraft carry out data interaction at least two terminal by the communication connection.
In some possible embodiments, the method 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 permission.
The aircraft receives at least two terminal currently with one or more controls of the aircraft
The acknowledgement notification for the acquisition request that the second terminal of limit is sent.
The aircraft responds the acknowledgement notification, and Xiang Suoshu first terminal feeds back the acquisition request success notification.
In some possible embodiments, the method also includes:
The aircraft receive the transmission of the first terminal at least two terminal to one of the aircraft or
The acquisition request of multiple control permission.
The aircraft currently has the second end of one or more control authorities at least two terminal
End forwards the acquisition request.
The aircraft receives the acknowledgement notification for the acquisition request that the second terminal is sent.
The aircraft responds the acknowledgement notification, and Xiang Suoshu first terminal feeds back the acquisition request success notification.
In some possible embodiments, at least two terminal that the aircraft establishes communication connection is to include
At least two video glasses.
In some possible embodiments, the method also includes:
The aircraft receives the image transmitting feedback signal that at least two video glass is sent.
Described image transmission feedback signal that the aircraft is sent according at least two video glass and it is described extremely
The quantity of few two video glasses adjusts code rate from data packet to first video glass and/or modulation system when sending.
In some possible embodiments, the aircraft is established and is connected by the video glass and a remote controler
It connects.
In some possible embodiments, the method also includes:
The aircraft receives the master remote controller permission of the transmission of the first video glass at least two video glass
Acquisition request, the acquisition request is the first remote controler for being connected from first video glass to first video glass
It sends.
The aircraft is connect at least two video glass with current the second remote controler as master remote controller
The second video glass forward the acquisition request.
The aircraft receives second remote controler and is asked by what second video glass was sent for the acquisition
The acknowledgement notification asked.
The aircraft responds the acknowledgement notification, feeds back institute to first remote controler by first video glass
State acquisition request success notification.
In some possible embodiments, the method also includes:
The aircraft receives the master remote controller permission that the first video glass at least two video glass reports
Acquisition request, the acquisition request is the first remote controler for being connected from first video glass to first video glass
It sends.
The aircraft receives at least two video glass to be connected with current the second remote controler as master remote controller
The acknowledgement notification for the acquisition request of the second video glass forwarding connect.
The aircraft responds the acknowledgement notification, feeds back institute to first remote controler by first video glass
State acquisition request success notification.
In some possible embodiments, the method also includes:
The aircraft receive the first video glass at least two video glass transmission to the aircraft
One or more control authorities acquisition request, the acquisition request be by first video glass connection first remote control
Device is sent to first video glass.
The aircraft has one or more control authorities at least two video glass and currently
Second video glass of the second remote controler connection forwards the acquisition request.
The aircraft receives second remote controler and is asked by what second video glass was sent for the acquisition
The acknowledgement notification asked.
The aircraft responds the acknowledgement notification, feeds back institute to first remote controler by first video glass
State acquisition request success notification.
In some possible embodiments, the method also includes:
The first video glass that the aircraft receives at least two video glass report to the aircraft
One or more control authorities acquisition request, the acquisition request be by first video glass connection first remote control
Device is sent to first video glass.
The aircraft receives at least two video glass and currently with one or more control authorities
The second remote controler connection the second video glass forwarding the acknowledgement notification for the acquisition request.
The aircraft responds the acknowledgement notification and feeds back institute to first remote controler by first video glass
State acquisition request success notification.
In some possible embodiments, at least two terminal that the aircraft establishes communication connection is to include
At least two remote controlers.
In some possible embodiments, the method also includes:
The aircraft receives obtaining for the master remote controller permission that the first remote controler at least two remote controler reports
Take request.
The aircraft receives at least two remote controler currently as the second remote controler transmission of master remote controller
For the acknowledgement notification of the acquisition request.
The aircraft responds the acknowledgement notification, and the first remote controler of Xiang Suoshu feeds back the acquisition request success notification.
In some possible embodiments, the method also includes:
The aircraft receives obtaining for the master remote controller permission that the first remote controler at least two remote controler reports
Take request.
The aircraft is at least two remote controler described in currently the second remote controler forwarding as master remote controller
Acquisition request.
The aircraft receives the acknowledgement notification for the acquisition request that second remote controler is sent.
The aircraft responds the acknowledgement notification, and the first remote controler of Xiang Suoshu feeds back the acquisition request success notification.
In some possible embodiments, at least two terminal that the aircraft establishes communication connection is to include
At least one remote controler and at least two video glasses.
In some possible embodiments, the aircraft is communicated by terminal with the foundation of at least two video glasses
Connection, the aircraft are also established at least one remote controler and are communicated to connect.
In some possible embodiments, the method also includes:
The first remote controler that the aircraft receives at least one described remote controler send to the one of the aircraft
The acquisition request of item or multiple control permission.
The aircraft currently has described one or more at least two video glass by the terminal
First video glass of item control authority forwards the acquisition request.
The aircraft receive first video glass by the terminal send for the acquisition request
Acknowledgement notification.
The aircraft responds the acknowledgement notification, and the first remote controler of Xiang Suoshu feeds back the acquisition request success notification.
In some possible embodiments, the method also includes:
The first video glass that the aircraft receives at least two video glass is 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 described remote controler
Remote controler forwards the acquisition request.
The aircraft receives the acknowledgement notification for the acquisition request that first remote controler is sent.
The aircraft responds the acknowledgement notification, is obtained by the terminal to described in first video glass feedback
Take request success notification.
In some possible embodiments, at least one described remote controler is a remote controler, the method also includes:
The aircraft receives one or more control authorities to the aircraft that one remote controler reports
Acquisition request.
The aircraft, which receives, currently has one or more control authorities at least two video glass
The acknowledgement notification for the acquisition request that first video glass is sent by the terminal.
The aircraft responds the acknowledgement notification, feeds back the acquisition request success notification to one remote controler.
In some possible embodiments, at least one described remote controler is a remote controler, the method also includes:
The first video glass that the aircraft receives at least two video glass is reported by the terminal
One or more control authorities to the aircraft acquisition request.
The aircraft receives the needle that currently one remote controler with one or more control authorities is sent
To the acknowledgement notification of the acquisition request.
The aircraft responds the acknowledgement notification, is obtained by the terminal to described in first video glass feedback
Take request success notification.
In some possible embodiments, at least one described remote controler is at least two remote controlers, and the method is also
Include:
The first remote controler that the aircraft is also used to receive at least two remote controler 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 glass
The acknowledgement notification for the acquisition request that first video glass is sent by the terminal.
The aircraft feeds back the acquisition request success notification to first remote controler.
In some possible embodiments, at least one described remote controler is at least two remote controlers, and the method is also
Include:
The first video glass that the aircraft receives at least two video glass is reported by the terminal
One or more control authorities to the aircraft acquisition request.
The aircraft receive at least two remote controler currently with one or more control authorities the
The acknowledgement notification for the acquisition request that one remote controler is sent.
The aircraft responds the acknowledgement notification, is obtained by the terminal to described in first video glass feedback
Take request success notification.
In the specific implementation, the specific implementation of method and step described in the embodiment of the present application may refer to the application implementation
Implementation described in a kind of flying vehicles control method that example diagram 9 or Figure 10 are provided, details are not described herein.
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 glasses and/or at least two remote controlers 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 permission negotiation so that the more flexible multiplicity of the control of aircraft, enhances the practical of aircraft
Property.
The embodiment of the present application also provides a kind of computer storage medium, program is stored in the computer storage medium and is referred to
It enables, program instruction is stored in the computer storage medium, include such as any one of Fig. 9-10,13-14 when described program executes
Corresponding flight control method.
It should be noted that for simple description, therefore, it is stated as a systems for each embodiment of the method above-mentioned
The combination of actions of column, but those skilled in the art should understand that, the application is not limited by the described action sequence, because
For according to the application, certain some step be can be performed in other orders or simultaneously.Secondly, those skilled in the art also should
Know, the embodiments described in the specification are all preferred embodiments, related actions and modules not necessarily this Shen
It please be necessary.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can be stored in a computer readable storage medium, storage
Medium may include: flash disk, read-only memory (Read-Only Memory, ROM), random access device (Random Access
Memory, RAM), disk or CD etc..
Detailed Jie has been carried out to a kind of flying vehicles control method, terminal and aircraft provided by the embodiment of the present application above
It continues, specific examples are used herein to illustrate the principle and implementation manner of the present application, and the explanation of above embodiments is only
It is to be used to help understand the method for this application and its core ideas；At the same time, for those skilled in the art, according to this Shen
Thought please, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification should not manage
Solution is the limitation to the application.
Claims (52)
1. a kind of terminal, which is characterized in that the terminal is video glass, and the terminal includes:
Communication device is communicated to connect for establishing with aircraft；
Processor, for carrying out data interaction with the aircraft by the communication connection；
The communication device is also used to receive the data packet that the aircraft is sent；
The processor is also used to obtain downlink reception parameter, and the downlink reception parameter includes Signal to Noise Ratio (SNR) and BLER(block error rate)
One or both of BLER；
The processor is also used to judge whether the downlink reception parameter meets and carries out between preset at least two code rate
The switching condition of switching；
The processor is also used to when the downlink reception parameter meets the switching condition, is receiving the data packet mistake
Cheng Zhong is switched between preset at least two code rate；
The communication device is also used to when the downlink reception parameter is unsatisfactory for the switching condition, Xiang Suoshu aircraft hair
The notice for sending the video glass that can not switch between preset at least two code rate.
2. terminal according to claim 1, which is characterized in that
The processor is also used to through the communication device, to other terminal broadcasts to the one or more of the aircraft
The acquisition request of control authority, and the acquisition request is reported to the aircraft；
The communication device is also used to receive the acquisition request success notification of the aircraft feedback.
3. terminal according to claim 1, which is characterized in that
The processor is also used to through the communication device, and Xiang Suoshu aircraft sends one or more to the aircraft
The acquisition request of item control authority；
The communication device is also used to receive the acquisition request success notification of the aircraft feedback.
4. terminal according to claim 1, which is characterized in that
The communication device and a remote controler establish connection.
5. terminal according to claim 4, which is characterized in that
The communication device, is also used to receive that one remote controler of video glass connection sends to the aircraft
One or more control authorities acquisition request；
The processor, is also used to through the communication device, broadcasts the acquisition request to other video glasses, and to described
Aircraft reports the acquisition request；
The communication device is also used to receive the acquisition request success notification of the aircraft feedback；
The communication device is also used to forward the acquisition request success notification to one remote controler.
6. terminal according to claim 4, which is characterized in that
The communication device, is also used to receive that one remote controler of video glass connection sends to the aircraft
One or more control authorities acquisition request；
The processor is also used to through the communication device, and Xiang Suoshu aircraft reports the acquisition request；
The communication device is also used to receive the acquisition request success notification of the aircraft feedback；
The communication device is also used to forward the acquisition request success notification to one remote controler.
7. terminal according to claim 4, which is characterized in that
The communication device is also used to receive the master remote controller permission that one remote controler of the video glass connection is sent
Acquisition request；
The processor, is also used to through the communication device, broadcasts the acquisition request to other video glasses, and to described
Aircraft reports the acquisition request；
The communication device is also used to receive the acquisition request success notification of the aircraft feedback；
The communication device is also used to forward the acquisition request success notification to one remote controler.
8. terminal according to claim 4, which is characterized in that
The communication device is also used to receive the master remote controller permission that one remote controler of the video glass connection is sent
Acquisition request；
The processor is also used to through the communication device, and Xiang Suoshu aircraft reports the acquisition request；
The communication device is also used to receive the acquisition request success notification of the aircraft feedback；
The communication device is also used to forward the acquisition request success notification to one remote controler.
9. terminal according to claim 4, which is characterized in that
The processor is also used to receive the setting instruction that one remote controler is sent by the communication device；
The processor is also used to respond the setting instruction, is configured to the video glass.
10. the terminal according to claim 1 to 9, which is characterized in that
The communication device is to establish connection by terminal and the aircraft.
11. a kind of flying vehicles control method characterized by comprising
Terminal and aircraft, which are established, to be communicated to connect；
The terminal carries out data interaction by the communication connection and the aircraft, and the terminal is video glass；
When the video glass receives the data 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 glass judges whether the downlink reception parameter meets and switches between preset at least two code rate
Switching condition；
The video glass is when the downlink reception parameter meets the switching condition, in receiving the process data packet,
It is switched between preset at least two code rate；
For the video glass when the downlink reception parameter is unsatisfactory for the switching condition, Xiang Suoshu aircraft sends the view
The notice that frequency glasses can not switch between preset at least two code rate.
12. according to the method for claim 11, which is characterized in that the method also includes:
The terminal to other terminal broadcasts to the acquisition request of one or more control authorities of the aircraft, and to described
Aircraft reports the acquisition request；
The terminal receives the acquisition request success notification of the aircraft feedback.
13. according to the method for claim 11, which is characterized in that the method also includes:
The terminal sends the acquisition request to one or more control authorities of the aircraft to the aircraft；
The terminal receives the acquisition request success notification of the aircraft feedback.
14. according to the method for claim 11, which is characterized in that
The video glass and a remote controler establish connection.
15. according to the method for claim 14, which is characterized in that the method also includes:
The terminal receives one or more to the aircraft that one remote controler of the video glass connection is sent
The acquisition request of item control authority；
The terminal broadcasts the acquisition request to other video glasses, and reports the acquisition request to the aircraft；
The terminal receives the acquisition request success notification of the aircraft feedback；
The terminal forwards the acquisition request success notification to one remote controler.
16. according to the method for claim 14, which is characterized in that the method also includes:
The terminal receives one or more to the aircraft that one remote controler of the video glass connection is sent
The acquisition request of item control authority；
The terminal reports the acquisition request to the aircraft；
The terminal receives the acquisition request success notification of the aircraft feedback；
The terminal forwards the acquisition request success notification to one remote controler.
17. according to the method for claim 14, which is characterized in that the method also includes:
The acquisition request for the master remote controller permission that one remote controler that the terminal receives the video glass connection is sent；
The terminal broadcasts the acquisition request to other video glasses, and reports the acquisition request to the aircraft；
The terminal receives the acquisition request success notification of the aircraft feedback；
The terminal forwards the acquisition request success notification to one remote controler.
18. according to the method for claim 14, which is characterized in that the method also includes:
The acquisition request for the master remote controller permission that one remote controler that the terminal receives the video glass connection is sent；
The terminal reports the acquisition request to the aircraft；
The terminal receives the acquisition request success notification of the aircraft feedback；
The terminal forwards the acquisition request success notification to one remote controler.
19. according to the method for claim 14, which is characterized in that the method also includes:
The terminal receives the setting instruction that one remote controler is sent；
The terminal responds the setting instruction, is configured to the video glass.
20. the method described in any one of 1-19 according to claim 1, which is characterized in that
The terminal is to establish connection by terminal and the aircraft.
21. a kind of aircraft characterized by comprising
Communication device is communicated to connect for establishing at least two terminals, and at least two terminal includes at least two videos
Glasses；
Flight controller, for carrying out data interaction at least two terminal by the communication connection；
The communication device is also used to receive the image transmitting feedback signal that at least two video glass is sent；
The flight controller, be also used to according at least two video glass send described image transmission feedback signal and
The quantity of at least two video glass, adjust at least two video glass send data packet when code rate and/or
Modulation system.
22. aircraft according to claim 21, which is characterized in that
The communication device, is also used to receive that the first terminal at least two terminal reports to the one of the aircraft
The acquisition request of item or multiple control permission；
The communication device is also used to receive at least two terminal currently with one or more controls of the aircraft
The acknowledgement notification for the acquisition request that the second terminal of permission processed is sent；
The flight controller is also used to respond the acknowledgement notification, passes through the communication device, Xiang Suoshu first terminal feedback
The acquisition request success notification.
23. aircraft according to claim 21, which is characterized in that
The communication device, is also used to receive that first terminal at least two terminal sends to the one of the aircraft
The acquisition request of item or multiple control permission；
The communication device is also used at least two terminal the currently with one or more control authorities
Two terminals forward the acquisition request；
The communication device is also used to receive the acknowledgement notification for the acquisition request that the second terminal is sent；
The flight controller is also used to respond the acknowledgement notification, passes through the communication device, Xiang Suoshu first terminal feedback
The acquisition request success notification.
24. aircraft according to claim 21, which is characterized in that
The aircraft establishes connection by the video glass and a remote controler.
25. aircraft according to claim 24, which is characterized in that
The communication device is also used to receive the master remote controller that the first video glass at least two video glass is sent
The acquisition request of permission, the acquisition request are the first remote controlers for being connected from first video glass to first video
What glasses were sent；
The communication device is also used at least two video glass and current the second remote controler as master remote controller
Second video glass of connection forwards the acquisition request；
The communication device is also used to receive second remote controler and is obtained by what second video glass was sent for described
Take the acknowledgement notification of request；
The flight controller is also used to respond the acknowledgement notification, is remotely controlled by first video glass to described first
Device feeds back the acquisition request success notification.
26. aircraft according to claim 24, which is characterized in that
The communication device is also used to receive the master remote controller that the first video glass at least two video glass reports
The acquisition request of permission, the acquisition request are the first remote controlers for being connected from first video glass to first video
What glasses were sent；
The communication device is also used to receive at least two video glass and current the second remote control as master remote controller
The acknowledgement notification for the acquisition request of the second video glass forwarding of device connection；
The flight controller is also used to respond the acknowledgement notification, by the communication device, passes through the first video eye
Mirror feeds back the acquisition request success notification to first remote controler.
27. aircraft according to claim 24, which is characterized in that
The communication device is also used to receive flying to described for the first video glass transmission at least two video glass
The acquisition request of one or more control authorities of row device, the acquisition request are by the first of first video glass connection
Remote controler is sent to first video glass；
The communication device is also used at least two video glass and currently has one or more controls
Second video glass of the second remote controler connection of limit forwards the acquisition request；
The communication device is also used to receive second remote controler and is obtained by what second video glass was sent for described
Take the acknowledgement notification of request；
The flight controller is also used to respond the acknowledgement notification, by the communication device, passes through the first video eye
Mirror feeds back the acquisition request success notification to first remote controler.
28. aircraft according to claim 24, which is characterized in that
The communication device, is also used to receive that the first video glass at least two video glass reports flies to described
The acquisition request of one or more control authorities of row device, the acquisition request are by the first of first video glass connection
Remote controler is sent to first video glass；
The communication device is also used to receive at least two video glass and currently has one or more controls
The acknowledgement notification for the acquisition request of the second video glass forwarding of the second remote controler connection of permission；
The flight controller is also used to respond the acknowledgement notification, by the communication device, passes through the first video eye
Mirror feeds back the acquisition request success notification to first remote controler.
29. aircraft according to claim 21, which is characterized in that
At least two terminal that the communication device of the aircraft establishes communication connection includes at least one remote controler
With at least two video glasses.
30. aircraft according to claim 21, which is characterized in that
The communication device of the aircraft is established by terminal and at least two video glasses and is communicated to connect, the flight
The communication device of device is also established at least one remote controler and is communicated to connect.
31. aircraft according to claim 30, which is characterized in that
The communication device, is also used to receive that the first remote controler at least one described remote controler sends to the aircraft
One or more control authorities acquisition request；
The communication device is also used to currently have described one at least two video glass by the terminal
Or the first video glass of multiple control permission forwards the acquisition request；
The communication device is also used to receive first video glass and is asked by what the terminal was sent for the acquisition
The acknowledgement notification asked；
The flight controller is also used to respond the acknowledgement notification, and by the communication device, the first remote controler of Xiang Suoshu is anti-
Present the acquisition request success notification.
32. aircraft according to claim 30, which is characterized in that
The communication device is also used to receive the first video glass at least two video glass and passes through the terminal
The acquisition request of the one or more control authorities to the aircraft reported；
The communication device is also used to currently have one or more control authorities at least one described remote controler
First remote controler forwards the acquisition request；
The communication device is also used to receive the acknowledgement notification for the acquisition request that first remote controler is sent；
The flight controller is also used to respond the acknowledgement notification, by the communication device, by the terminal to institute
It states the first video glass and feeds back the acquisition request success notification.
33. aircraft according to claim 30, which is characterized in that at least one described remote controler is a remote controler,
The communication device is also used to receive one or more controls to the aircraft that one remote controler reports
The acquisition request of limit；
The communication device, being also used to receive at least two video glass currently has one or more controls
The acknowledgement notification for the acquisition request that first video glass of limit is sent by the terminal；
The flight controller is also used to respond the acknowledgement notification, anti-to one remote controler by the communication device
Present the acquisition request success notification.
34. aircraft according to claim 30, which is characterized in that at least one described remote controler is a remote controler,
The communication device is also used to receive the first video glass at least two video glass and passes through the terminal
The acquisition request of the one or more control authorities to the aircraft reported；
The communication device is also used to receive currently one remote controler with one or more control authorities and sends
The acknowledgement notification for the acquisition request；
The flight controller is also used to respond the acknowledgement notification, by the communication device, by the terminal to institute
It states the first video glass and feeds back the acquisition request success notification.
35. aircraft according to claim 30, which is characterized in that at least one described remote controler is at least two remote controls
Device,
The communication device, is also used to receive that the first remote controler at least two remote controler reports to the aircraft
One or more control authorities acquisition request；
The communication device, being also used to receive at least two video glass currently has one or more controls
The acknowledgement notification for the acquisition request that first video glass of limit is sent by the terminal；
The flight controller is also used to through the communication device, the first remote controler of Xiang Suoshu feed back the acquisition request at
Function notice.
36. aircraft according to claim 30, which is characterized in that at least one described remote controler is at least two remote controls
Device,
The communication device is also used to receive the first video glass at least two video glass and passes through the terminal
The acquisition request of the one or more control authorities to the aircraft reported；
The communication device, being also used to receive at least two remote controler currently has one or more control authorities
The first remote controler send the acknowledgement notification for the acquisition request；
The flight controller is also used to respond the acknowledgement notification, by the communication device, by the terminal to institute
It states the first video glass and feeds back the acquisition request success notification.
37. a kind of flying vehicles control method characterized by comprising
Aircraft and at least two terminals, which are established, to be communicated to connect, and at least two terminal includes at least two video glasses；
The aircraft carries out data interaction at least two terminal by the communication connection；
The aircraft receives the image transmitting feedback signal that at least two video glass is sent；
The aircraft transmits feedback signal and described at least two according to the described image that at least two video glass is sent
The quantity of a video glass adjusts code rate from data packet at least two video glass and/or modulation system when sending.
38. according to the method for claim 37, which is characterized in that the method 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；
The aircraft receives one or more control authorities currently at least two terminal with the aircraft
The acknowledgement notification for the acquisition request that second terminal is sent；
The aircraft responds the acknowledgement notification, and Xiang Suoshu first terminal feeds back the acquisition request success notification.
39. according to the method for claim 37, which is characterized in that the method also includes:
The aircraft receive the first terminal at least two terminal transmission 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 acquisition request described；
The aircraft receives the acknowledgement notification for the acquisition request that the second terminal is sent；
The aircraft responds the acknowledgement notification, and Xiang Suoshu first terminal feeds back the acquisition request success notification.
40. according to the method for claim 37, which is characterized in that
The aircraft establishes connection by the video glass and a remote controler.
41. according to the method for claim 40, which is characterized in that the method also includes:
The aircraft receives obtaining for the master remote controller permission of the transmission of the first video glass at least two video glass
Request is taken, the acquisition request is that the first remote controler connected from first video glass is sent to first video glass
's；
The aircraft connect at least two video glass with current the second remote controler as master remote controller the
Two video glasses forward the acquisition request；
The aircraft receive second remote controler by second video glass send for the acquisition request
Acknowledgement notification；
The aircraft responds the acknowledgement notification, is obtained by first video glass to described in first remote controler feedback
Take request success notification.
42. according to the method for claim 40, which is characterized in that the method also includes:
The aircraft receives obtaining for the master remote controller permission that the first video glass at least two video glass reports
Request is taken, the acquisition request is that the first remote controler connected from first video glass is sent to first video glass
's；
The aircraft, which receives, to be connect with current the second remote controler as master remote controller at least two video glass
The acknowledgement notification for the acquisition request of second video glass forwarding；
The aircraft responds the acknowledgement notification, is obtained by first video glass to described in first remote controler feedback
Take request success notification.
43. according to the method for claim 40, which is characterized in that the method also includes:
The aircraft receive the first video glass at least two video glass transmission to the one of the aircraft
Or multiple control permission acquisition request, the acquisition request be from first video glass connect the first remote controler to
What first video glass was sent；
The aircraft second with one or more control authorities at least two video glass and currently
Second video glass of remote controler connection forwards the acquisition request；
The aircraft receive second remote controler by second video glass send for the acquisition request
Acknowledgement notification；
The aircraft responds the acknowledgement notification, is obtained by first video glass to described in first remote controler feedback
Take request success notification.
44. according to the method for claim 40, which is characterized in that the method also includes:
The first video glass that the aircraft receives at least two video glass report to the one of the aircraft
Or multiple control permission acquisition request, the acquisition request be from first video glass connect the first remote controler to
What first video glass was sent；
The aircraft receive at least two video glass with currently with one or more control authorities the
The acknowledgement notification for the acquisition request of the second video glass forwarding of two remote controlers connection；
The aircraft responds the acknowledgement notification and is obtained by first video glass to described in first remote controler feedback
Take request success notification.
45. according to the method for claim 37, which is characterized in that
At least two terminal that the aircraft establishes communication connection includes at least one remote controler and at least two videos
Glasses.
46. according to the method for claim 37, which is characterized in that
The aircraft establishes communication connection by terminal and at least two video glasses, the aircraft also at least one
Remote controler establishes communication connection.
47. according to the method for claim 46, which is characterized in that the method also includes:
The first remote controler that the aircraft receives at least one described remote controler send to one of the aircraft or
The acquisition request of multiple control permission；
The aircraft currently has one or more controls at least two video glass by the terminal
First video glass of permission processed forwards the acquisition request；
The aircraft receives the confirmation for the acquisition request that first video glass is sent by the terminal
Notice；
The aircraft responds the acknowledgement notification, and the first remote controler of Xiang Suoshu feeds back the acquisition request success notification.
48. according to the method for claim 46, which is characterized in that the method also includes:
The aircraft receives pair that the first video glass at least two video glass is 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 described remote controler
Device forwards the acquisition request；
The aircraft receives the acknowledgement notification for the acquisition request that first remote controler is sent；
The aircraft responds the acknowledgement notification, feeds back the acquisition to first video glass by the terminal and asks
Seek success notification.
49. according to the method for claim 46, which is characterized in that at least one described remote controler is a remote controler, institute
State method further include:
The aircraft receives the acquisition for one or more control authorities to the aircraft that one remote controler reports
Request；
The aircraft, which receives, currently has the first of one or more control authorities at least two video glass
The acknowledgement notification for the acquisition request that video glass is sent by the terminal；
The aircraft responds the acknowledgement notification, feeds back the acquisition request success notification to one remote controler.
50. according to the method for claim 46, which is characterized in that at least one described remote controler is a remote controler, institute
State method further include:
The aircraft receives pair that the first video glass at least two video glass is reported by the terminal
The acquisition request of one or more control authorities of the aircraft；
The aircraft reception currently one remote controler transmission with one or more control authorities is directed to institute
State the acknowledgement notification of acquisition request；
The aircraft responds the acknowledgement notification, feeds back the acquisition to first video glass by the terminal and asks
Seek success notification.
51. according to the method for claim 46, which is characterized in that at least one described remote controler is at least two remote controls
Device, the method also includes:
The first remote controler that the aircraft is also used to receive at least two remote controler 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 glass
The acknowledgement notification for the acquisition request that video glass is sent by the terminal；
The aircraft feeds back the acquisition request success notification to first remote controler.
52. according to the method for claim 46, which is characterized in that at least one described remote controler is at least two remote controls
Device, the method also includes:
The aircraft receives pair that the first video glass at least two video glass is reported by the terminal
The acquisition request of one or more control authorities of the aircraft；
The aircraft receives at least two remote controler 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, feeds back the acquisition to first video glass by the terminal and asks
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 CN107438801A (en) | 2017-12-05 |
| CN107438801B true CN107438801B (en) | 2019-11-22 |
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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 |
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| CN201911230021.1A Withdrawn CN110879613A (en) | 2016-09-27 | 2016-09-27 | Aircraft control method, terminal and aircraft |
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Families Citing this family (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3843330A4 (en) * | 2018-08-21 | 2021-09-08 | SZ DJI Technology Co., Ltd. | Method for setting control function, control device and control system |
| CN109445464B (en) * | 2019-01-08 | 2021-06-25 | 深圳市道通智能航空技术股份有限公司 | Flight control method and flight control system |
| CN111357274A (en) * | 2019-01-24 | 2020-06-30 | 深圳市大疆创新科技有限公司 | Display method and device of control terminal and storage medium |
| CN110415503A (en) * | 2019-07-18 | 2019-11-05 | 东南大学 | A kind of no-manned machine distant control system based on Bluetooth control |
| 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 |
| CN110456824A (en) * | 2019-09-11 | 2019-11-15 | 云南电力技术有限责任公司 | A kind of unmanned plane relay control system and method |
| CN110687806B (en) * | 2019-09-30 | 2023-04-07 | 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 |
| CN112205020A (en) * | 2019-10-30 | 2021-01-08 | 深圳市大疆创新科技有限公司 | Video transmission method, device and computer readable storage medium |
| 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 |
| CN114096463A (en) * | 2020-04-28 | 2022-02-25 | 深圳市大疆创新科技有限公司 | Control method and device for movable platform, 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 |
| CN113552896B (en) * | 2021-06-02 | 2024-02-27 | 中国人民解放军军事科学院国防科技创新研究院 | Unmanned platform remote control system and method based on unmanned aerial vehicle relay communication |
| 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 |
| 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 |
| CN114637314A (en) * | 2022-04-08 | 2022-06-17 | 深圳市道通智能航空技术股份有限公司 | Unmanned aerial vehicle and control method, device and system thereof |
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- 2016-09-27 CN CN201680014390.5A patent/CN107438801B/en not_active Expired - Fee Related
- 2016-09-27 CN CN201911230021.1A patent/CN110879613A/en not_active Withdrawn
- 2016-09-27 WO PCT/CN2016/100301 patent/WO2018058289A1/en active Application Filing
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Also Published As
| Publication number | Publication date |
|---|---|
| CN110879613A (en) | 2020-03-13 |
| CN107438801A (en) | 2017-12-05 |
| WO2018058289A1 (en) | 2018-04-05 |
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