CN108345989A - A kind of horizontal assessment method of flight management and system - Google Patents
A kind of horizontal assessment method of flight management and system Download PDFInfo
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Abstract
The present invention relates to technical field of flight control, and in particular to a kind of horizontal assessment method of flight management includes the following steps：It obtains and flies the practical flight track that hand controls unmanned plane during flying according to desired guiding trajectory shape；It obtains and refers to flight path；The horizontal assessment parameters of flight management of winged hand are obtained according to practical flight track and with reference to flight path.The horizontal assessment method of flight management provided by the present invention and system, the real standard that unmanned plane can be manipulated to flying hand by obtaining the horizontal assessment parameters of flight management effectively assess and judge, the drawbacks of can only judging provide subjective scoring by examiner's eyesight in the past is broken away from so that evaluation flight management level has real and effective standard；Evaluation process is objective, accurate, and larger effect is played in being examined for the flight management level of winged hand.
Description
Technical field
The present invention relates to technical field of flight control, and in particular to a kind of horizontal assessment method of flight management and system.
Background technology
As multi-rotor unmanned aerial vehicle application field is more and more extensive, market for unmanned plane driver demand also increasingly
It is more.According to the regulations that national civil aviation administrative department is formulated, unmanned plane driver need to by AOPA (aircraft owner with
Driver association) license exam, can just obtain official mission identification driving qualification.Currently, in driver's license qualifying examination, it is real
The Assessment of border driving ability is as follows：Aircraft is driven by remote controler by examinee and completes examination outline in the error range of permission
Specified movement locus and posture (aircraft and level, vertically, the angle in three directions of longitude), and visually inspected by examiner,
After examinee completes compulsory exercise, subjective scoring is provided.
Above-mentioned Assessment does not have standard for the executive condition of compulsory exercise, is judged completely by examiner's eyesight, is limited to
The position judgment power of human body, especially eyesight and three dimensions, subjective factor adverse effect are very prominent, it is difficult to accurate
Really assess the practical driving ability of unmanned plane driver.
Invention content
In order to solve the above technical problems, The present invention provides a kind of horizontal assessment method of flight management and systems, can
In unmanned examination, the accuracy of the evaluation practical driving ability of unmanned plane driver is improved.
In order to reach above-mentioned technique effect, the present invention includes following technical scheme：A kind of horizontal assessment method of flight management,
Include the following steps：
(1) it obtains and flies the practical flight track that hand controls unmanned plane during flying according to desired guiding trajectory shape；
(2) it obtains and refers to flight path；
(3) by comparing practical flight track and obtaining the horizontal assessment parameters of flight management of winged hand with reference to flight path.
In addition, the present invention also provides a kind of horizontal assessment system of flight management, including ground evaluation terminal, server and
Unmanned plane, the unmanned plane are equipped with airborne sensor and wireless communication module, and the ground evaluation terminal is equipped with flight rail
Mark generates system and assessment system, and database is equipped in the server；The unmanned plane is by airborne sensor every solid
Determine the track data of duration collection actual path point, and module is sent to ground evaluation terminal by radio communication by track data
With the database purchase of server, ground evaluates terminal and generates practical flight according to the track data of the actual path point received
Track, and practical flight track is compared with the reference flight path of setting by assessment system, fly hand to obtain
The horizontal assessment parameters of flight management.
Further, the ground evaluation terminal further includes user interface display module, three-dimensional rendering module and playback
Module, the three-dimensional rendering module can carry out three-dimensional rendering to flight path, to realize the three-dimensional display of flight path；Institute
Local playback and remote can be carried out by the practical flight track after three-dimensional rendering by user interface display module by stating playback module
Cheng Huifang.
Using above-mentioned technical proposal, including following advantageous effect：The horizontal assessment method of flight management provided by the present invention
And system, the real standard that can manipulate unmanned plane to flying hand by obtaining the horizontal assessment parameters of flight management are effectively assessed
And judgement, break away from the drawbacks of can only judging provide subjective scoring by examiner's eyesight in the past so that evaluation flight management is horizontal
With real and effective standard；Flight path can be shown and reviewed by way of three-dimensional display, more visually reflected
The practical operation situation for flying hand manipulation unmanned plane, can preserve flight path so that flight path can be recalled, after can carrying out
It is continuous to check, checked with certification authority convenient for examinee's complaint and appraisal management, avoid the occurrence of " misjudgement ", " erroneous judgement ",
Situations such as " failing to judge ", evaluation process is objective, accurate, and larger effect is played in being examined for the flight management level of winged hand.
Description of the drawings
Fig. 1 is provided the step flow chart of the horizontal assessment method of flight management by the embodiment of the present invention；
Fig. 2 is provided the sub-step flow chart of step S1 by the embodiment of the present invention；
Fig. 3 is provided the step flow chart for obtaining the first assessment parameters by the embodiment of the present invention；
Fig. 4 is provided the step flow chart for obtaining the second assessment parameters by the embodiment of the present invention；
Fig. 5 is provided the reference flight path and reality in flight path shape corresponding to a certain section by the embodiment of the present invention
The comparison diagram of flight path；
Fig. 6 is provided the three-dimensional rendering schematic diagram of practical flight track by the embodiment of the present invention.
In figure,
1, with reference to flight path；100, reference locus point；2, practical flight track；200, actual path point.
Specific implementation mode
It is described in further detail below by specific embodiment and in conjunction with attached drawing to the present invention.
Embodiment 1：
A kind of horizontal assessment method of flight management is present embodiments provided refering to fig. 1~4 to include the following steps：
S1, the practical flight track for flying hand according to desired guiding trajectory shape control unmanned plane during flying is obtained；
Examiner sets trajectory shape according to examination outline, for example, desired guiding trajectory shape be the figure of eight of known dimensions, circular,
One kind in regular polygon, in the present embodiment, preferably figure of eight trajectory shape, figure of eight trajectory shape is by two circulars
At the radius of two positive round is set in advance according to examination outline, for example, 5 meters can be set as.
The step includes following sub-step：
S101, winged hand manipulation unmanned plane fly to predeterminated position, and unmanned plane during flying is controlled by flight starting point of the predeterminated position；
Wherein, the predeterminated position is simultaneously the center of desired guiding trajectory shape；
After examination starts, winged hand manipulation unmanned plane, which rises, flies to a height hovering for being suitble to him to observe and take an examination, the hovering
Locate the center for default figure of eight track, the point of contact of as two circle the tangent flies hand using the point of contact as flight starting point and reference
Preset positive radius of circle, control unmanned plane fly along figure of eight track.If desired guiding trajectory shape be circle, winged hand fly to
Certain hovering height is located, and for the circular center of circle, winged hand flies out one using the center of circle as flight starting point according to preset radius at the height place
A circular trace.
Airborne sensor on S102, unmanned plane every fixed duration collection actual path point track data, and by institute
It states track data and is sent to ground evaluation terminal and/or server；Wherein, the track data includes flying speed data, flies
Row altitude information, time of flight data, longitude and latitude degrees of data, course angular data, pitch angle data and rolling angular data；
Airborne sensor is the GPS/ Big Dippeves and sensor assembly (three axis accelerometer, three axis tops on unmanned plane
Spiral shell instrument, magnetic compass and barometer etc.), can obtain in real time aircraft space flight posture (course angular data, pitch angle data and
Rolling angular data), airspeed information, flight-time information, latitude and longitude information and elevation information, the track data acquired can
To be stored in the memory space of data recording equipment on unmanned plane (such as black box), and can be by digital transmission module by track number
Terminal storage is evaluated according to ground is sent to, meanwhile, also the flying quality acquired can be packaged into data by on-board controller
It wraps and is uploaded onto the server by network communication module, for example, service can be sent to track data by 4G communication modules
Device.
S103, ground evaluation terminal generate practical flight track according to received track data.
Terminal receiving locus data are evaluated on ground, and draw out winged hand according to track data using existing track drawing system
It manipulates the practical flight track of unmanned plane during flying and is shown on the display screen of ground evaluation terminal.
S2, it obtains with reference to flight path；
The step according to desired guiding trajectory shape and winged hand manipulation unmanned plane specifically, fly to the position of predetermined position to believe
Breath is drawn out with reference to flight path.
With reference to flight path it is the standard figure of eight track formed by two positive round in the present embodiment, predetermined position
Location information is latitude and longitude information and elevation information, which is to fly hand manipulation unmanned plane in step S1 to fly to one
Be suitble to he observe and the hovering position of examination at and standard figure of eight track center, according to center and positive round
Known radius, and the standard figure of eight is drawn out using threedimensional model display technique and refers to flight path, while being shown in ground and commenting
Determine terminal to check for examiner.
S3, the horizontal assessment parameters of flight management of winged hand are obtained by comparing practical flight track and reference flight path.
The horizontal assessment parameters of flight management include the first assessment parameters and the second assessment parameters.The first evaluation ginseng
Number is obtained by following steps：
S301, the altitude information of each actual path point obtained is compared with preset first standard parameter respectively
Obtain height assessment parameters；Wherein, first standard parameter is altitude range；
In a preferred embodiment, the stabilization journey that winged hand controls unmanned plane during flying can be tested by investigating height-lock control
Degree, height-lock control refer to flying hand to manipulate unmanned plane in certain altitude.
A suitable height hovering that he observes and takes an examination is flown to for example, flying hand operation unmanned plane and rising, hovering height is
For height-lock control height, it is assumed that it is 10 meters, examiner sets the first standard parameter according to examination outline, i.e. altitude range is 8~12 meters,
In flight course, every fixed duration collection track data, corresponding collection point is airborne sensor on unmanned plane
Actual path point, wherein track data includes the altitude information of each actual path point, after flight, by each actual path point
Altitude information be compared respectively with 8~12 meters, often exceed a unit, such as often surpass and go beyond the scope 1 meter, deduct certain
Score, the score that each actual path point is deducted be added after be height assessment parameters, in the present embodiment, the evaluation of each winged hand
Full marks can be set as 100 points.
It is S302, poor according to each actual path point height data acquisition Height Standard, by the Height Standard difference with it is preset
Second standard parameter, which is compared, obtains Height Standard difference assessment parameters；Wherein, second standard parameter is that Height Standard is poor
Range.
Height Standard difference by obtaining each actual path point controls unmanned plane during flying in vertical direction to weigh winged hand
Degree of stability, Height Standard difference range can set according to examination outline.
The Height Standard difference σ of each actual path pointhFor：
Wherein, uhFor the height average of each actual path point, xiFor the height of each actual path point, N is actual path
The number of point.
The Height Standard difference σ that will be obtainedhCompared with preset Height Standard difference range, often exceed a unit, (this
Unit can be set in advance as needed) certain score is then deducted, the score of deduction can be calculated as Height Standard difference assessment parameters.
S303, according to each actual path point flying speed data acquisition flying speed standard deviation, by the flying speed mark
Quasi- difference is compared with preset third standard parameter obtains velocity standard difference assessment parameters；Wherein, the third standard parameter
For flying speed standard deviation range；
Nobody is controlled in the horizontal direction to weigh winged hand by obtaining the flying speed standard deviation of each actual path point
The degree of stability of machine flight.Flying speed standard deviation range can be set according to examination outline.
Examination start after, fly hand manipulation unmanned plane take off to certain altitude hover, and according to preset figure of eight track by
Start to fly at center, fly out a figure of eight track, and final on trajectory is target endpoint, the target endpoint hover one section when
Between after landing, interception predetermined height starts to the distance of target endpoint, and obtains the flight time used in the corresponding distance of flight, from
And obtain the average speed of during flight；Flying speed standard deviation sigmavFor：
Wherein, uvFor the flying speed average value of each actual path point, xiFor the flying speed of each actual path point, N is
The number of actual path point.
By the flying speed standard deviation sigma of each actual path point obtainedvIt is compared with flying speed standard deviation range,
Often exceed a unit, deducts certain score, the score of deduction can be calculated as velocity standard difference assessment parameters.
S304, it is obtained according to the height assessment parameters, Height Standard difference assessment parameters and velocity standard difference assessment parameters
Obtain the first assessment parameters.
The summation of height assessment parameters, Height Standard difference assessment parameters and velocity standard difference assessment parameters is that the first evaluation is joined
Number.
Second assessment parameters are obtained by following steps：
S311, the opposite deviation distance for referring to flight path of each actual path point is obtained, specially：
It obtains and refers in flight path apart from two nearest and adjacent reference locus points of actual path point；Calculate practical rail
For mark point to the vertical range of two adjacent determined straight lines of reference locus point, as actual path point is opposite refers to flight rail
The deviation distance of mark.
For example, refering to Fig. 5, by taking an actual path point a on certain section of practical flight track as an example, with reference in flight path
The two reference locus points nearest apart from actual path point a are A and B, and it is straight to the places reference locus point AB to calculate actual path point a
The vertical range of line, the vertical range are that the actual path point deviates the deviation distance for referring to flight path.
S312, deviation distance standard deviation is obtained according to the deviation distance of each actual path point；The deviation distance that will be obtained
Standard deviation obtains the first flight path assessment parameters after being compared with preset standard deviation criteria；Wherein, preset standard deviation
Parameter is deviation distance standard deviation range；
Standard deviation sigmalIt is as follows:
Wherein, ulFor the deviation distance average value of each actual path point, xiFor the deviation distance of each actual path point, N is
The number of actual path point.
Preset standard deviation criteria is the deviation distance standard deviation range set according to examination outline, the deviation that will be obtained
Criterion distance difference σlIt is compared with deviation distance standard deviation range, is more than often a preset unit, deducts certain score, detain
The score removed is the first flight path assessment parameters.
S313, the opposite deviation distance with reference to flight path of each actual path point is carried out with preset dispersed parameters respectively
It compares and obtains the second flight path assessment parameters；Wherein, preset dispersed parameters are deviation distance range.
For example, one deviation distance range of preset in advance, by the opposite deviation with reference to flight path of each actual path point away from
It is compared from the deviation distance range, often exceeds a unit, deduct certain score, the score of deduction is the second flight rail
Mark assessment parameters.
S314, the course deviation angle at each actual path point is determined according to acquired course angular data, according to course
Misalignment angle obtains third flight path assessment parameters.
Course angle refers to the angle between head and direct north, under standard state, at each actual path point heading with
The angle between tangent line at corresponding reference locus point should be zero, the reference locus point corresponding to each actual path point by with
Lower method obtains：Simultaneously refering to Fig. 5, by taking an actual path point a on certain section of practical flight track as an example, with reference to flight path
On two reference locus points nearest apart from actual path point a be A and B, determine the vertical line of actual path point a to straight line AB, it is vertical
Line is C with the intersection point with reference to flight path, and intersection point C is reference locus point；
The tangent line that point C was obtained according to intersection point C can obtain the tangent line and direct north by routine data computational methods
Angle, and then obtain tangent line and heading angle, as the course deviation angle of the actual path point, specific calculating side
Method is not detailed herein.
The course deviation angle of each actual path point is obtained according to example, further acquisition course deviation angular standard is poor, will navigate
It is compared to misalignment angle standard deviation with preset standard deviation range, if it exceeds this range, then deduct certain score, button
The score removed is third flight path assessment parameters.
S315, it is commented according to the first flight path assessment parameters, the second flight path assessment parameters and third flight path
Determine the second assessment parameters of gain of parameter.
In the present embodiment, the first flight path assessment parameters, the second flight path assessment parameters and third flight path
The summation of assessment parameters is the second assessment parameters.
For example, each the total score of winged hand is set as 100, deducts the first assessment parameters and the second assessment parameters are somebody's turn to do
Fly the horizontal assessment parameters of flight management of hand.
The present embodiment evaluates the perfection that examinee manipulates the practical flight track that unmanned plane obtains by the second assessment parameters
Degree, for example, can judge out the practical flight track that winged hand manipulation unmanned plane is flown out refers to flight path phase with the figure of eight
The standard degree of ratio.Specifically, it can judge that flying hand exists according to the opposite deviation distance with reference to flight path of each actual path point
Whether there is the larger phenomenon of off-track during manipulation aircraft, passes through the deviation distance standard deviation energy of each actual path point
Enough to reflect practical flight track on the whole with reference to the deviation distance of flight path, the course by each actual path point is inclined
Poor angular standard is poor, can judge out the degree of closeness of practical flight track and desired guiding trajectory shape.
In certain preferred embodiments, the ground evaluation terminal generates practical flight according to received track data
Track further comprises：
Three-dimensional rendering is carried out to received track data using threedimensional model display technique, and at analog simulation interface
Practical flight track after middle displaying three-dimensional rendering.Preferably, user evaluates terminal on ground, can be turned over by dragging, scaling
Turn to wait operation, 360 ° of flight paths checked after three-dimensional rendering.
Refering to Fig. 6, the flight path obtained after three-dimensional rendering more can show to visual pattern state of flight, convenient
Subsequently checked.
Embodiment 2：
On the basis of embodiment 1, a kind of horizontal assessment system of flight management, including ground evaluation are present embodiments provided
Terminal, server and unmanned plane, the unmanned plane are equipped with airborne sensor and wireless communication module, and the ground evaluation is eventually
End is equipped with flight path and generates system and assessment system, and database is equipped in the server；The unmanned plane passes through airborne
Sensor is every the track data for fixing duration collection actual path point, and module is sent to by radio communication by track data
The database purchase of terminal and server is evaluated on ground, and track data of the terminal according to the actual path point received is evaluated on ground
Practical flight track is generated, and practical flight track is compared with the reference flight path of setting by assessment system, from
And obtain the horizontal assessment parameters of flight management for flying hand.
It is additionally provided with examinee information management system and unmanned machine management system, the examinee information in the ground evaluation terminal
It is set with examinee information, including examinee's name in management system, the information such as test taker number are equipped in the unmanned machine management system
Examinee information and unmanned plane synchronizing information in terminal are evaluated in unmanned machine information, including type, ID, flight time etc., ground
To being preserved in the database of server.
Embodiment described above provides three sets of data to record system, improves the real-time and reliability of data transmission,
In examination process, it can give tacit consent to and track data is transmitted to ground evaluation terminal using digital transmission module, break down if number passes, nothing
Man-machine flight controller can still be by 4G modules and track data be sent to server；If 4G can not be communicated, ground evaluation
Terminal can be passed by number and obtain data and store；If two lines road is broken down, the black box subsystem built in flight controller
Still examinee's flying quality can be recorded, after aircraft landing, examiner evaluates terminal by ground again and reads black box data.
In the present embodiment, further, the ground evaluation terminal further includes user interface display module, three-dimensional rendering
Module and playback module, the three-dimensional rendering module can carry out three-dimensional rendering to flight path, to realize flight path
Three-dimensional display；The playback module can be carried out the practical flight track after three-dimensional rendering by user interface display module
Local playback and long-range playback.
Three-dimensional rendering is carried out to flight path using three-dimensional rendering module, is conducive to more show to visual pattern flight
Track can play back flight path using playback module so that flight path can be recalled, and convenient for subsequently checking, comment
It is objective, accurate to determine process.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of horizontal assessment method of flight management, which is characterized in that include the following steps：
（1）It obtains and flies the practical flight track that hand controls unmanned plane during flying according to desired guiding trajectory shape；
（2）It obtains and refers to flight path；
（3）By comparing practical flight track and obtaining the horizontal assessment parameters of flight management of winged hand with reference to flight path.
2. according to the method described in claim 1, it is characterized in that, the desired guiding trajectory shape be known dimensions the figure of eight,
One kind in circular, regular polygon；The step（1）Middle obtain flies hand according to desired guiding trajectory shape control unmanned plane during flying
Practical flight track is specially：
1）Fly hand manipulation unmanned plane to fly to predeterminated position, unmanned plane during flying is controlled by flight starting point of the predeterminated position；Wherein,
The predeterminated position is simultaneously the center of desired guiding trajectory shape；
2）Airborne sensor on unmanned plane every fixed duration collection actual path point track data, and by the track number
Terminal and/or server are evaluated according to ground is sent to；Wherein, the track data includes flying speed data, flying height number
According to, time of flight data, longitude and latitude degrees of data, course angular data, pitch angle data and rolling angular data；
3）It evaluates terminal and practical flight track is generated according to received track data in ground.
3. according to the method described in claim 2, it is characterized in that, terminal is evaluated according to received track number in the ground
Further comprise according to practical flight track is generated：
Three-dimensional rendering is carried out to received track data using threedimensional model display technique, and is opened up in analog simulation interface
Show the practical flight track after three-dimensional rendering.
4. according to the method described in claim 2, it is characterized in that, the step（2）It obtains with reference to flight path and is specially：Root
Fly to the location information of predetermined position to draw out with reference to flight path according to desired guiding trajectory shape and winged hand manipulation unmanned plane.
5. according to the method described in claim 4, it is characterized in that, the step（3）The middle horizontal assessment parameters packet of flight management
Include the first assessment parameters and the second assessment parameters.
6. according to the method described in claim 5, it is characterized in that, first assessment parameters are obtained by following steps：
1）It is high that the altitude information of each actual path point obtained is compared to acquisition with preset first standard parameter respectively
Spend assessment parameters；Wherein, first standard parameter is altitude range；
2）It is poor according to each actual path point height data acquisition Height Standard, by the Height Standard difference and preset second standard
Parameter, which is compared, obtains Height Standard difference assessment parameters；Wherein, second standard parameter is Height Standard difference range；
3）According to each actual path point flying speed data acquisition flying speed standard deviation, by the flying speed standard deviation and in advance
If third standard parameter be compared obtain velocity standard difference assessment parameters；Wherein, the third standard parameter is flight speed
Spend standard deviation range；
4）First is obtained according to the height assessment parameters, Height Standard difference assessment parameters and velocity standard difference assessment parameters to comment
Determine parameter.
7. method according to claim 5 or 6, which is characterized in that second assessment parameters are obtained by following steps：
1）Obtain the opposite deviation distance for referring to flight path of each actual path point；
2）Deviation distance standard deviation is obtained according to the deviation distance of each actual path point；By the deviation distance standard deviation obtained with
Preset standard deviation criteria obtains the first flight path assessment parameters after being compared；Wherein, preset standard deviation criteria is inclined
Separation is from standard deviation range；
3）The opposite deviation distance with reference to flight path of each actual path point is compared with preset dispersed parameters respectively and is obtained
Obtain the second flight path assessment parameters；Wherein, preset dispersed parameters are deviation distance range；
4）The course deviation angle at each actual path point is determined according to acquired course angular data, according to course deviation angle
Obtain third flight path assessment parameters；
5）It is obtained according to the first flight path assessment parameters, the second flight path assessment parameters and third flight path assessment parameters
Obtain the second assessment parameters.
8. the method according to the description of claim 7 is characterized in that described obtain each actual path point relatively with reference to flight path
Deviation distance be specially：
It obtains and refers in flight path apart from two nearest and adjacent reference locus points of actual path point；
Actual path point is calculated to the vertical range of two adjacent determined straight lines of reference locus point, as actual path point
The opposite deviation distance for referring to flight path.
9. a kind of horizontal assessment system of flight management, which is characterized in that including ground evaluation terminal, server and unmanned plane, institute
It states unmanned plane and is equipped with airborne sensor and wireless communication module, the ground evaluation terminal is equipped with flight path and generates system
And assessment system, the server is interior to be equipped with database；The unmanned plane is by airborne sensor every fixed duration collection
The track data of actual path point, and module is sent to ground evaluation terminal and server by radio communication by track data
Database purchase, ground evaluates terminal and generates practical flight track according to the track data of the actual path point received, and leads to
It crosses assessment system practical flight track is compared with the reference flight path of setting, to obtain the flight management water for flying hand
Flat assessment parameters.
10. the horizontal assessment system of flight management according to claim 9, which is characterized in that the ground evaluation terminal is also
Including user interface display module, three-dimensional rendering module and playback module, the three-dimensional rendering module can be to flight path
Three-dimensional rendering is carried out, to realize the three-dimensional display of flight path；The playback module can fly the reality after three-dimensional rendering
Row track carries out local playback and long-range playback by user interface display module.
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| CN109658743B (en) * | 2019-02-01 | 2021-04-27 | 江苏蒲公英无人机有限公司 | Training method for horizontal splayed air route of unmanned aerial vehicle |
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| CN111598453A (en) * | 2020-05-15 | 2020-08-28 | 中国兵器工业计算机应用技术研究所 | Control work efficiency analysis method, device and system based on execution force in virtual scene |
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| CN111563689B (en) * | 2020-05-15 | 2022-11-11 | 吕静 | Aircraft operation scoring method and system |
| CN111563689A (en) * | 2020-05-15 | 2020-08-21 | 吕静 | Aircraft operation scoring method and system |
| CN116700070A (en) * | 2023-05-17 | 2023-09-05 | 北京锐士装备科技有限公司 | Safety supervision method and system for flight state of unmanned aerial vehicle |
| CN116700070B (en) * | 2023-05-17 | 2024-01-30 | 北京锐士装备科技有限公司 | Safety supervision method and system for flight state of unmanned aerial vehicle |
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