CN108334107A - A kind of computer based monitoring unmanned method - Google Patents
A kind of computer based monitoring unmanned method Download PDFInfo
- Publication number
- CN108334107A CN108334107A CN201810085808.2A CN201810085808A CN108334107A CN 108334107 A CN108334107 A CN 108334107A CN 201810085808 A CN201810085808 A CN 201810085808A CN 108334107 A CN108334107 A CN 108334107A
- Authority
- CN
- China
- Prior art keywords
- control module
- monitoring
- information
- authentication
- computer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
- G06F21/30—Authentication, i.e. establishing the identity or authorisation of security principals
- G06F21/31—User authentication
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
- G06F21/60—Protecting data
- G06F21/602—Providing cryptographic facilities or services
Abstract
The invention discloses a kind of computer based monitoring unmanned methods, this method is carrying out unmanned plane authentication constantly, verify authentication request information, it determines whether computer monitoring equipment has the permission for handling the unmanned plane authentication request information, unmanned plane except the legal unmanned plane of computer monitoring equipment can be prevented in this way data interaction occurs with computer monitoring equipment；The standard vector that the configuration information of unmanned aerial vehicle (UAV) control module is summarized as being made of elements such as position longitude, position latitude, position height, visual angle and sighting distances by this method, to improve the operability of complicated monitoring environmental monitoring configuration；This method is in the design object power function that unmanned aerial vehicle group optimizes monitoring model, it is contemplated that the dynamic characteristic of the unmanned aerial vehicle groups such as configuration speed, position and state of each control module simplifies the operation of user of service, reduces the technology requirement of personnel.
Description
Technical field
The present invention relates to monitoring unmanned fields, and in particular to a kind of computer based monitoring unmanned method.
Background technology
Referred to as " unmanned plane ", english abbreviation is " UAV " to UAV, using radio robot and is provided for oneself
The not manned aircraft that presetting apparatus manipulates.It can be divided into from technical standpoint definition：Unmanned fixed-wing aircraft, unmanned VTOL
Machine, unmanned airship, unmanned helicopter, unmanned multi-rotor aerocraft, unmanned parasol etc..
With the progress of unmanned air vehicle technique rapid development in recent years, the civilian unmanned plane market in China, which shows, flourishes it
Gesture, be mainly used in being related to taking photo by plane, aerial survey, rain making, agricultural operation and monitoring, remote sensing mine locating, forest fire protection, meteorological detection
With monitoring, seashore and border patrol, security protection and monitoring, emergency relief, flight club, emergent mitigation, alert monitoring etc.,
Through the every field for penetrating into national economy.But since taking off for unmanned plane is various with way of recycling, maneuverability and individual is logical
It is often smaller, cause unmanned plane supervision difficult.
Currently, the application for being only limitted to a small amount of unmanned plane mostly for the use of unmanned plane is tested, there is no push away on a large scale
It is wide to use, and unmanned plane is voluntarily controlled and is monitored by user itself mostly.Reality based on unmanned aerial vehicle group is built to complex environment
When monitor configuration system, the following problem faced.
First, the considerations of for cost or efficiency, unmanned aerial vehicle group is usually made of the different monitoring unit of state, such as nothing
Be equipped on man-machine group different brands, model aerial camera, there are standard difference, structure unified monitoring needs to complete identity
Verification, currently, most of electronic equipment is all made of acquiescence or authentication set by the user in different authentications
Mode, verification mode are single.It is easier to be cracked by illegal invasion person, reliability and safety be not high.
Second is that monitoring strategies are usually directed to multiple dynamic objects, accurate monitor control index quantization can not be carried out to multiple target；
By existing optimization method be directly extended to unmanned aerial vehicle group real time monitoring configuration system in, will cause a higher-dimension design vector with compared with
The complicated optimal model of multiple constraint is not only difficult to realize the structure of this type of optimization model by computer programming, and asks it
The process of solution more likely faces computationally intensive, poor astringency numerical problem, it is difficult to meet practical safety monitoring process institute face
The demand of the real-time and robustness faced.
Invention content
The present invention provides a kind of computer based monitoring unmanned method, and this method is when carrying out unmanned plane authentication
When, authentication request information is verified, the unmanned plane authentication request is handled to determine whether computer monitoring equipment has
The permission of information then sends response message, if do not had if there is processing authority to the authentication module of computer monitoring equipment
There is processing authority, does not then send response message to the authentication of computer monitoring equipment, computer monitoring can be prevented in this way
With computer monitoring equipment data interaction occurs for the unmanned plane except the legal unmanned plane of equipment；This method is by unmanned aerial vehicle (UAV) control module
Configuration information be summarized as from the standard that the elements such as position longitude, position latitude, position height, visual angle and sighting distance are constituted to
Amount, to improve the operability of complicated monitoring environmental monitoring configuration；This method optimizes setting for monitoring model in unmanned aerial vehicle group
It counts in objective function function, it is contemplated that the dynamic characteristic of the unmanned aerial vehicle groups such as configuration speed, position and state of each control module,
On the one hand, accurate monitor control index quantization can be carried out to multiple target by monitoring strategies procured function, ensures that the present invention is solving
There is stronger versatility and operability in terms of practical problem；On the other hand, as long as by simply setting prison in user's operation
The tactful index value of control, simplifies the operation of user of service, reduces the technology requirement of personnel.
To achieve the goals above, the present invention provides a kind of computer based monitoring unmanned method, and this method is specific
Include the following steps：
S1. computer monitoring equipment receives unmanned plane authentication request information；
S2. the solicited message is decrypted, obtains unmanned plane authentication request content；
S3. the parameter information for obtaining unmanned plane authentication, determines authentication mode, according to determining body according to parameter information
Part verification mode carries out authentication to the authentication request content；
S4. it is communicated in computer monitoring equipment and by being established between the unmanned plane of authentication, and realizes data interaction；
S5. computer monitoring equipment optimizes configuration to establishing the unmanned aerial vehicle group after communicating, to promote the efficiency of monitoring.
Preferably, in the step S1, the authentication request information is to add to original authentication request content
It is close to obtain, and be stored in storage medium or high in the clouds, the authentication request information can pass through the storage medium of computer
Interface loads, and can also be loaded from high in the clouds by network.
Preferably, further include following steps between the step S1 and S2：
Computer monitoring equipment verifies the permission of the solicited message, obtains the first judging result；
When first judging result shows that the authentication request information has processing authority, according to the request after decryption
Content sends to the authentication module of the computer monitoring equipment and responds.
Preferably, the permission of the verification request, including：
The identity request information is decrypted using the deciphering module of computer monitoring equipment, obtains decrypted result；
When the decrypted result is successful decryption, characterizes the request and have processing authority, according to the request content after decryption
It sends and responds to the authentication module of the computer monitoring equipment；
The decrypted result be decryption failure when, characterize the authentication request information and do not have processing authority, forbid to
The authentication module of the computer monitoring equipment sends response.
Preferably, in the step S3, the parameter information includes environmental information, when environmental information meets preferential use
Verification mode use condition when, the verification mode preferentially used is determined as the verification mode for authentication,
Wherein, the verification mode preferentially used is the verification preferentially used in the multiple verification modes with priority level to prestore
Mode.
Preferably, specifically comprise the following steps in the step S5：
S51. the control module on each unmanned plane acquires initial configuration information, and is sent to the computer monitoring equipment of distal end；
S52. the computer monitoring equipment receives the initial configuration information of all control modules, according to built-in Optimized model meter
Calculation obtains the allocation optimum information of each control module, is sent respectively to corresponding control module；
S53. it after the control module of unmanned plane receives the allocation optimum information, is executed according to the allocation optimum information corresponding
Action；
Wherein, the initial configuration information includes：Initial position longitude, initial position latitude, initial height above sea level, initial visual angle
And initial sighting distance；The allocation optimum information includes：It is optimal location longitude, optimal location latitude, optimal height above sea level, optimal
Visual angle and optimal sighting distance.
Preferably, the Optimized model includes design variable, design object and design constraint, and the design variable is institute
The configuration information for having control module, is expressed as with matrix form：XG=(X1, X2..., Xi..., Xm), wherein m moulds in order to control
Block number, i are 1 to the integer between m, XiFor the configuration information of i-th of control module, specially Xi=(αi, βi, θi, λi),
In, αiFor position longitude, the β of i-th of control moduleiPosition latitude, θ for i-th of control moduleiFor i-th control module
Visual angle, λiFor the sighting distance of i-th of control module.
Preferably, the design object is the setup time of unmanned aerial vehicle group, and calculation formula is：
Wherein, number of modules, i are 1 to the integer between m, X to m in order to controliFor the target configuration information of i-th of control module,For the initial configuration information of i-th of control module,Indicate the configuration speed of i-th of control module, tiIt is controlled for i-th
Module is adjusted to the time needed for target configuration information.
Preferably, the design constraint includes monitoring strategies index and monitoring strategies procured function, wherein the monitoring plan
Slightly index is set by the user, and can be expressed as a n-dimensional vector：N indicates monitoring objective number, j 1
To the integer between n,For the monitoring strategies index value for j-th of goal-setting, the monitoring strategies procured function calculates
Formula is：Number of modules, i are 1 to the integer between m, h to m in order to controli(Xi, j) and it is i-th of control
Target function is reached in the monitoring of j-th of target of molding block pair.
Preferably, the criteria optimization mathematical model form of the Optimized model is：
Wherein, number of modules, i are 1 to the integer between m to m in order to control, and n is monitoring objective number, and j is 1 to the integer between n,
F is objective function function, indicates unmanned aerial vehicle group setup time, gjFor monitoring strategies procured function, unmanned aerial vehicle group pair is indicated j-th
Index value is reached in the monitoring of target,For the monitoring strategies index value for j-th of goal-setting, XGIndicate matching for unmanned aerial vehicle group
Set information matrix, XiIt indicates the configuration information of i-th of control module, includes the position longitude α of i-th of control modulei, i-th control
The position latitude β of molding blocki, i-th control module view angle thetai, i-th control module sighting distance λi, ΩiIndicate XiIt is feasible
Domain,For the left boundary value of i-th of control module configuration information,For the right boundary value of i-th of control module configuration information.
The present invention has the following advantages and beneficial effect：
（1）This method is carrying out unmanned plane authentication constantly, authentication request information is verified, to determine that computer monitoring is set
It is standby whether have handle the permission of the unmanned plane authentication request information and then set to computer monitoring if there is processing authority
Standby authentication module sends response message, if without processing authority, not to the authentication of computer monitoring equipment
Response message is sent, the unmanned plane and computer monitoring equipment except the legal unmanned plane of computer monitoring equipment can be prevented in this way
Data interaction occurs；
（2）The configuration information of unmanned aerial vehicle (UAV) control module is summarized as by position longitude, position latitude, visual angle and sighting distance by this method
The standard vector that equal elements are constituted, to improve the operability of complicated monitoring environmental monitoring configuration；
（3）This method is in the design object power function that unmanned aerial vehicle group optimizes monitoring model, it is contemplated that each control module
The dynamic characteristic of the unmanned aerial vehicle groups such as configuration speed, position and state, on the one hand, can be by monitoring strategies procured function to multiple target
It carries out accurate monitor control index quantization, ensures that the present invention has stronger versatility and operable in terms of solving practical problems
Property；On the other hand, as long as by simply setting monitoring strategies index value in user's operation, the behaviour of user of service is simplified
Make, reduces the technology requirement of personnel.
Description of the drawings
Fig. 1 shows a kind of flow chart of computer based monitoring unmanned method of the present invention.
Specific implementation mode
Fig. 1 shows that a kind of computer based monitoring unmanned method of the present invention, this method specifically include following step
Suddenly：
S1. computer monitoring equipment receives unmanned plane authentication request information.Unmanned plane is the general designation of unmanned vehicle,
Refer to the not manned vehicle manipulated using radio robot and the presetting apparatus provided for oneself.Unmanned plane is usually by machine
Multiple functional unit compositions such as body, control unit, power unit, monitoring unit, control module of the present invention belong to nobody
A part for machine monitoring unit refers to being mounted in the apparatus on unmanned plane for acquiring picture or image and its related work(
It can module.
S2. the solicited message is decrypted, obtains unmanned plane authentication request content.
S3. the parameter information for obtaining unmanned plane authentication, determines authentication mode, according to determination according to parameter information
Authentication mode to the authentication request content carry out authentication.
S4. it is communicated in computer monitoring equipment and by being established between the unmanned plane of authentication, and realizes data interaction.
S5. computer monitoring equipment optimizes configuration to establishing the unmanned aerial vehicle group after communicating, to promote the efficiency of monitoring.
In the step S1, the authentication request information is to be obtained to original authentication request content-encrypt,
And it is stored in storage medium or high in the clouds, the authentication request information can be added by the storage medium interface of computer
It carries, can also be loaded from high in the clouds by network.
Further include following steps between the step S1 and S2：
Computer monitoring equipment verifies the permission of the solicited message, obtains the first judging result；
When first judging result shows that the authentication request information has processing authority, according to the request after decryption
Content sends to the authentication module of the computer monitoring equipment and responds.
The permission of the verification request, including：
The identity request information is decrypted using the deciphering module of computer monitoring equipment, obtains decrypted result；Institute
When to state decrypted result be successful decryption, characterize the request and have processing authority, according to the request content after decryption to the meter
The authentication module for calculating machine monitoring equipment sends response；When the decrypted result is decryption failure, characterizes the identity and test
Card solicited message does not have processing authority, forbids sending response to the authentication module of the computer monitoring equipment.
Preferably, in the step S3, the parameter information includes environmental information, when environmental information meets preferential use
Verification mode use condition when, the verification mode preferentially used is determined as the verification mode for authentication,
Wherein, the verification mode preferentially used is the verification preferentially used in the multiple verification modes with priority level to prestore
Mode.
Specifically comprise the following steps in the step S5：
S51. the control module on each unmanned plane acquires initial configuration information, and is sent to the computer monitoring equipment of distal end.
S52. the computer monitoring equipment receives the initial configuration information of all control modules, according to built-in optimization mould
The allocation optimum information of each control module is calculated in type, is sent respectively to corresponding control module.
S53. it after the control module of unmanned plane receives the allocation optimum information, is executed according to the allocation optimum information
Corresponding actions；Wherein, the initial configuration information includes：Initial position longitude, initial position latitude, initial height above sea level, just
Beginning visual angle and initial sighting distance；The allocation optimum information includes：Optimal location longitude, optimal location latitude, optimal height above sea level
Degree, optimal visual angle and optimal sighting distance.
Preferably, it is the monitoring precision further promoted to unmanned plane, the unmanned aerial vehicle (UAV) control module includes two groups of flights
State detection sensor：First group of state of flight detection sensor comprising：First kind sensor is surveyed for providing the first kind
Amount is as a result, with the second class sensor, for providing the second class measurement result；Second group of state of flight detection sensor comprising：
First kind sensor, for providing first kind measurement result and the second class sensor, for providing the second class measurement result.Institute
Stating unmanned aerial vehicle (UAV) control module further includes：Control module is coupled to first and second groups of state of flight detection sensors,
Therefrom to receive the measurement result, wherein the control module is configured to execute following operation：The first kind will be come from
Difference between sensor and the first kind measurement result of first kind sensor is compared with the first predetermined threshold；If
The difference is more than first predetermined threshold, then judges that the first kind sensing data of the first kind sensor is indefinite
's；And according to the second class measurement result, described the from the first kind sensor and first kind sensor is selected
The numerical value as the first kind sensing data in a kind of measurement result, so that it is determined that the first kind sensor number
According to numerical value, and the first kind sensing data is arranged to explicitly after the selection.
Every group of state of flight detection sensor may each comprise various types of sensors, these sensors monitor nothing respectively
Man-machine each aspect state of flight, and respective categorical measures result is generated respectively.For example, first group of sensor includes
First inertia measurement sensor, the first barometer, first position sensor and the first magnetic compass.Second group of state of flight detection passes
Sensor includes the second inertia measurement sensor, the second barometer, second position sensor and the second magnetic compass.Two groups of state of flights
Detection sensor includes the sensor of at least two same types.
Preferably, the Optimized model includes design variable, design object and design constraint, and the design variable is institute
The configuration information for having control module, is expressed as with matrix form：XG=(X1, X2..., Xi..., Xm), wherein m moulds in order to control
Block number, i are 1 to the integer between m, XiFor the configuration information of i-th of control module, specially Xi=(αi, βi, θi, λi),
In, αiFor position longitude, the β of i-th of control moduleiPosition latitude, θ for i-th of control moduleiFor i-th control module
Visual angle, λiFor the sighting distance of i-th of control module.
The design object is the setup time of unmanned aerial vehicle group, and calculation formula is：
Wherein, number of modules, i are 1 to the integer between m, X to m in order to controliFor the target configuration information of i-th of control module,For the initial configuration information of i-th of control module,Indicate the configuration speed of i-th of control module, tiIt is controlled for i-th
Module is adjusted to the time needed for target configuration information.
The design constraint includes monitoring strategies index and monitoring strategies procured function, wherein the monitoring strategies index
It is set by the user, a n-dimensional vector can be expressed as：N indicates that monitoring objective number, j are 1 between n
Integer,For the monitoring strategies index value for j-th of goal-setting, the monitoring strategies procured function calculation formula is：Number of modules, i are 1 to the integer between m, h to m in order to controli(Xi, j) and it is i-th of control module
Target function is reached to the monitoring of j-th of target.
The criteria optimization mathematical model form of the Optimized model is：
Wherein, number of modules, i are 1 to the integer between m to m in order to control, and n is monitoring objective number, and j is 1 to the integer between n,
F is objective function function, indicates unmanned aerial vehicle group setup time, gjFor monitoring strategies procured function, unmanned aerial vehicle group pair is indicated j-th
Index value is reached in the monitoring of target,For the monitoring strategies index value for j-th of goal-setting, XGIndicate matching for unmanned aerial vehicle group
Set information matrix, XiIt indicates the configuration information of i-th of control module, includes the position longitude α of i-th of control modulei, i-th control
The position latitude β of molding blocki, i-th control module view angle thetai, i-th control module sighting distance λi, ΩiIndicate XiIt is feasible
Domain,For the left boundary value of i-th of control module configuration information,For the right boundary value of i-th of control module configuration information.
Although as described above, being illustrated according to embodiment and attached drawing defined by embodiment, to the art
It can carry out various modifications and deform from above-mentioned record for technical staff with general knowledge.For example, according to explanation
Technology illustrated in method mutually different sequence carry out, and/or according to system, structure, device, the circuit etc. with explanation
The mutually different form of method illustrated by inscape is combined or combines, or is carried out according to other inscapes or equipollent
It replaces or displacement also may achieve effect appropriate.For those of ordinary skill in the art to which the present invention belongs, it is not taking off
Under the premise of from present inventive concept, several equivalent substitute or obvious modifications is made, and performance or use is identical, all should be considered as
It belongs to the scope of protection of the present invention.
Claims (10)
1. a kind of computer based monitoring unmanned method, this method specifically comprise the following steps：
S1. computer monitoring equipment receives unmanned plane authentication request information；
S2. the solicited message is decrypted, obtains unmanned plane authentication request content；
S3. the parameter information for obtaining unmanned plane authentication, determines authentication mode, according to determining body according to parameter information
Part verification mode carries out authentication to the authentication request content；
S4. it is communicated in computer monitoring equipment and by being established between the unmanned plane of authentication, and realizes data interaction；
S5. computer monitoring equipment optimizes configuration to establishing the unmanned aerial vehicle group after communicating, to promote the efficiency of monitoring.
2. the method as described in claim 1, which is characterized in that in the step S1, the authentication request information is
Original authentication request content-encrypt is obtained, and is stored in storage medium or high in the clouds, the authentication request information
It can be loaded, can also be loaded from high in the clouds by network by the storage medium interface of computer.
3. method as claimed in claim 2, which is characterized in that further include following steps between the step S1 and S2：
Computer monitoring equipment verifies the permission of the solicited message, obtains the first judging result；
When first judging result shows that the authentication request information has processing authority, according to the request after decryption
Content sends to the authentication module of the computer monitoring equipment and responds.
4. method as claimed in claim 3, which is characterized in that the permission of the verification request, including：
The identity request information is decrypted using the deciphering module of computer monitoring equipment, obtains decrypted result；
When the decrypted result is successful decryption, characterizes the request and have processing authority, according to the request content after decryption
It sends and responds to the authentication module of the computer monitoring equipment；
The decrypted result be decryption failure when, characterize the authentication request information and do not have processing authority, forbid to
The authentication module of the computer monitoring equipment sends response.
5. the method as described in claim 1-4 is any, which is characterized in that in the step S3, the parameter information includes
Environmental information, when environmental information meets the use condition of the verification mode preferentially used, by the authentication preferentially used
Formula is determined as the verification mode for authentication, wherein the verification mode preferentially used is prestored with priority
The verification mode preferentially used in other multiple verification modes.
6. method according to any one of claims 1 to 5, which is characterized in that specifically comprise the following steps in the step S5：
S51. the control module on each unmanned plane acquires initial configuration information, and is sent to the computer monitoring equipment of distal end；
S52. the computer monitoring equipment receives the initial configuration information of all control modules, according to built-in Optimized model meter
Calculation obtains the allocation optimum information of each control module, is sent respectively to corresponding control module；
S53. it after the control module of unmanned plane receives the allocation optimum information, is executed according to the allocation optimum information corresponding
Action；
Wherein, the initial configuration information includes：Initial position longitude, initial position latitude, initial height above sea level, initial visual angle
And initial sighting distance；The allocation optimum information includes：It is optimal location longitude, optimal location latitude, optimal height above sea level, optimal
Visual angle and optimal sighting distance.
7. the method as described in claim 5 is any, which is characterized in that the Optimized model includes design variable, design object
And design constraint, the design variable are the configuration information of all control modules, are expressed as with matrix form：XG=(X1,
X2..., Xi..., Xm), wherein number of modules, i are 1 to the integer between m, X to m in order to controliFor matching for i-th control module
Confidence ceases, specially Xi=(αi, βi, θi, λi), wherein αiFor position longitude, the β of i-th of control moduleiFor i-th of control mould
The position latitude of block, θiVisual angle, λ for i-th of control moduleiFor the sighting distance of i-th of control module.
8. the method as described in claim 7 is any, which is characterized in that the design object is the setup time of unmanned aerial vehicle group,
Calculation formula is：
Wherein, number of modules, i are 1 to the integer between m, X to m in order to controliFor the target configuration information of i-th of control module,For the initial configuration information of i-th of control module,Indicate the configuration speed of i-th of control module, tiIt is controlled for i-th
Module is adjusted to the time needed for target configuration information.
9. the method as described in claim 8 is any, which is characterized in that the design constraint includes monitoring strategies index and monitoring
Tactful procured function, wherein the monitoring strategies index is set by the user, and can be expressed as a n-dimensional vector：
N indicates that monitoring objective number, j are 1 to the integer between n,To be set for j-th of target
Fixed monitoring strategies index value, the monitoring strategies procured function calculation formula are：M is in order to control
Number of modules, i are 1 to the integer between m, hi(Xi, j) be i-th of control module pair, j-th of target monitoring reach index letter
Number.
10. the method as described in claim 9 is any, which is characterized in that the criteria optimization mathematical model shape of the Optimized model
Formula is：
Wherein, number of modules, i are 1 to the integer between m to m in order to control, and n is monitoring objective number, and j is 1 to the integer between n,
F is objective function function, indicates unmanned aerial vehicle group setup time, gjFor monitoring strategies procured function, unmanned aerial vehicle group pair is indicated j-th
Index value is reached in the monitoring of target,For the monitoring strategies index value for j-th of goal-setting, XGIndicate matching for unmanned aerial vehicle group
Set information matrix, XiIt indicates the configuration information of i-th of control module, includes the position longitude α of i-th of control modulei, i-th control
The position latitude β of molding blocki, i-th control module view angle thetai, i-th control module sighting distance λi, ΩiIndicate XiIt is feasible
Domain,For the left boundary value of i-th of control module configuration information,For the right boundary value of i-th of control module configuration information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810085808.2A CN108334107A (en) | 2018-01-29 | 2018-01-29 | A kind of computer based monitoring unmanned method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810085808.2A CN108334107A (en) | 2018-01-29 | 2018-01-29 | A kind of computer based monitoring unmanned method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108334107A true CN108334107A (en) | 2018-07-27 |
Family
ID=62926117
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810085808.2A Pending CN108334107A (en) | 2018-01-29 | 2018-01-29 | A kind of computer based monitoring unmanned method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108334107A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110770728A (en) * | 2018-10-29 | 2020-02-07 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method, unmanned aerial vehicle and terminal for controlling unmanned aerial vehicle |
| CN111027037A (en) * | 2019-11-11 | 2020-04-17 | 华为技术有限公司 | Method for verifying user identity and electronic equipment |
| CN116137111A (en) * | 2023-04-20 | 2023-05-19 | 中国民航管理干部学院 | Supervision method and device for low-altitude unmanned aircraft |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105827607A (en) * | 2016-03-31 | 2016-08-03 | 赵文洁 | Unmanned aerial vehicle identification system |
| CN106274617A (en) * | 2016-08-26 | 2017-01-04 | 湖南航天远望科技有限公司 | Ship, machine combination monitoring method and monitoring system |
| US9758246B1 (en) * | 2016-01-06 | 2017-09-12 | Gopro, Inc. | Systems and methods for adjusting flight control of an unmanned aerial vehicle |
| CN107516437A (en) * | 2017-07-12 | 2017-12-26 | 哈尔滨理工大学 | Unmanned plane managing and control system safe for operation and method in the air |
| CN107623590A (en) * | 2017-08-18 | 2018-01-23 | 福建易视科技有限公司 | The collocation method and system monitored in real time for unmanned aerial vehicle group |
-
2018
- 2018-01-29 CN CN201810085808.2A patent/CN108334107A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9758246B1 (en) * | 2016-01-06 | 2017-09-12 | Gopro, Inc. | Systems and methods for adjusting flight control of an unmanned aerial vehicle |
| CN105827607A (en) * | 2016-03-31 | 2016-08-03 | 赵文洁 | Unmanned aerial vehicle identification system |
| CN106274617A (en) * | 2016-08-26 | 2017-01-04 | 湖南航天远望科技有限公司 | Ship, machine combination monitoring method and monitoring system |
| CN107516437A (en) * | 2017-07-12 | 2017-12-26 | 哈尔滨理工大学 | Unmanned plane managing and control system safe for operation and method in the air |
| CN107623590A (en) * | 2017-08-18 | 2018-01-23 | 福建易视科技有限公司 | The collocation method and system monitored in real time for unmanned aerial vehicle group |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110770728A (en) * | 2018-10-29 | 2020-02-07 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method, unmanned aerial vehicle and terminal for controlling unmanned aerial vehicle |
| CN110770728B (en) * | 2018-10-29 | 2024-04-16 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method, unmanned aerial vehicle and terminal for controlling unmanned aerial vehicle |
| CN111027037A (en) * | 2019-11-11 | 2020-04-17 | 华为技术有限公司 | Method for verifying user identity and electronic equipment |
| WO2021093595A1 (en) * | 2019-11-11 | 2021-05-20 | 华为技术有限公司 | Method for verifying user identity and electronic device |
| CN116137111A (en) * | 2023-04-20 | 2023-05-19 | 中国民航管理干部学院 | Supervision method and device for low-altitude unmanned aircraft |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Zhi et al. | Security and privacy issues of UAV: A survey | |
| US10977493B2 (en) | Automatic location-based media capture tracking | |
| US10713959B2 (en) | Low altitude aircraft identification system | |
| CN105425815B (en) | A kind of pasture intelligent management system and method using unmanned vehicle | |
| CN207133659U (en) | A kind of unmanned vehicle tele-control system | |
| WO2017017984A1 (en) | Moving body identification system and identification method | |
| EP2124213B1 (en) | System for collecting data about spatial objects and providing services | |
| US7646298B1 (en) | Method for detecting changes in measurable conditions | |
| CN107274724A (en) | A kind of monitoring unmanned system relayed based on ad-hoc network with gsm communication | |
| CN108334107A (en) | A kind of computer based monitoring unmanned method | |
| US11703863B2 (en) | Methods and systems for operating a moving platform to determine data associated with a target person or object | |
| CN108363088A (en) | Nuclear radiation detection methods, devices and systems | |
| WO2021237618A1 (en) | Capture assistance method, ground command platform, unmanned aerial vehicle, system, and storage medium | |
| CN105352494B (en) | Cruise positioning device, cruise positioning system and method | |
| CN107454131A (en) | The device and method weighed by mobile network sharing unmanned aerial vehicle (UAV) control | |
| CN110457987A (en) | Face identification method based on unmanned plane | |
| CN114067615A (en) | Intelligent security system based on Internet of things | |
| US11945583B2 (en) | Method for generating search information of unmanned aerial vehicle and unmanned aerial vehicle | |
| US10223522B2 (en) | System and method for protecting mobile device when interacting with a computer | |
| KR20170027116A (en) | Disaster relief system of drone-IoT interworking type | |
| CN113923653B (en) | Wireless unmanned aerial vehicle inspection and information safety protection system that charges | |
| Lemayian et al. | Autonomous first response drone-based smart rescue system for critical situation management in future wireless networks | |
| Paramanik et al. | Survey of smart grid network using drone & PTZ Camera | |
| CN107390707A (en) | Unmanned aerial vehicle control system | |
| CN207937876U (en) | A kind of Intelligent unattended machine hunting system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180727 |
|
| WD01 | Invention patent application deemed withdrawn after publication |