CN108513696A - Unmanned aerial vehicle (UAV) control method and control device, unmanned plane monitoring and managing method and monitoring equipment - Google Patents
Unmanned aerial vehicle (UAV) control method and control device, unmanned plane monitoring and managing method and monitoring equipment Download PDFInfo
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- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
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- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L43/00—Arrangements for monitoring or testing data switching networks
- H04L43/10—Active monitoring, e.g. heartbeat, ping or trace-route
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L43/00—Arrangements for monitoring or testing data switching networks
- H04L43/12—Network monitoring probes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
- H04W12/02—Protecting privacy or anonymity, e.g. protecting personally identifiable information [PII]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
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Abstract
A kind of unmanned aerial vehicle (UAV) control method and control device, unmanned plane monitoring and managing method and monitoring equipment, unmanned plane, for realizing the supervision to unmanned plane.The unmanned aerial vehicle (UAV) control method is：The supervision information of unmanned plane is obtained, and supervision information is inserted into management frame；Management frame is sent in working channel using communication network of the transmitter between unmanned plane and control terminal.
Description
Technical field
The invention relates to unmanned plane field more particularly to a kind of unmanned aerial vehicle (UAV) control method and control device, nobody
Machine monitoring and managing method and monitoring equipment, unmanned plane.
Background technology
Unmanned plane is as a kind of aviation aircraft, during using spatial domain, indefinite, infringement that there is flight ranges
The problems such as privacy, security risk, needs to be supervised by certain rank to ensure the safety of the public.
Currently, may include phased-array radar for intercepting with discovery technique for unmanned plane, electronic imaging, sonic detection and
Radio-frequency signal detection etc., but these technologies are not yet ripe, can not perform well in finding small drone, and even if finding small-sized
Unmanned plane can not also provide the relevant informations such as identity and the geographical location of unmanned plane, while these technologies all have unstable, work
With it is not high apart from short or accuracy the shortcomings of, specifically can be as follows：1, phased-array radar：Since small drone is small, reflection
Face is small, radar horizon is short, and to be not easy to be that unmanned plane or other objects distinguish to target, error detection probability is high.And
The use volume of phased-array radar is big, increases site layout project difficulty；2, electronic imaging：First, detection probability is low, second is that long distance
Bigbore camera lens is needed from detection, third, more difficult resolution target is unmanned plane or flight birds, thermal imaging has above-mentioned
Same problem；3, sonic detection：For relatively other technologies, detecting distance is shorter, while big by the interference of ambient noise, especially
It is to cannot achieve the identification to simple target when multiple UAVs while while occurring；4, radio-frequency signal detection：Due to unmanned plane
ISM (Industrial Scientific Medical) frequency band signals are generally used, and use the equipment of such frequency range numerous,
And the unmanned plane signal characteristic of different model is different, and unmanned plane signal is detected to be difficult to the area from the feature of radiofrequency signal,
Meanwhile unmanned plane signal to crack difficulty big, and unmanned plane signal is after being cracked, producer may carry out firmware update with
The loophole that unmanned plane signal is cracked is repaired, it is easier that crack method fails.
In addition, in addition to above-mentioned technology, unmanned plane can also be broadcasted by carrying ADS-B equipment, while ground coordinates
There is radar equipment to be detected and realizes supervision.However, since ADS-B equipment is high-power transmitting equipment (being more than 100W), then
It is relatively difficult to be suitable in medium and small miniature drone, and the radar detection on ground has the volume and flying height of target aircraft
It is certain to require, and for the medium and small miniature drone with the characteristics of " low/slow/small/more ", it is difficult to realize efficient detection.
Invention content
An embodiment of the present invention provides a kind of unmanned aerial vehicle (UAV) control method and control device, unmanned plane monitoring and managing method and supervision to set
Standby, unmanned plane, for realizing the supervision to unmanned plane.
In view of this, first aspect present invention provides a kind of unmanned aerial vehicle (UAV) control method, it may include：
The supervision information of unmanned plane is obtained, and supervision information is inserted into management frame；
Management frame is sent in working channel using communication network of the transmitter between unmanned plane and control terminal.
Second aspect of the present invention provides a kind of unmanned plane monitoring and managing method, it may include：
Utilize the working channel of the cordless communication network between detector scanning unmanned plane and control terminal；
The management frame that unmanned plane is sent is obtained using detector, wherein management frame includes the supervision information of unmanned plane；
The supervision information of the unmanned plane in management frame is obtained using processor.
Third aspect present invention provides a kind of control device, it may include：
Processor, the supervision information for obtaining unmanned plane, and supervision information is inserted into management frame；
Transmitter sends management frame in the working channel for the communication network between unmanned plane and control terminal.
Fourth aspect present invention provides a kind of monitoring equipment, it may include：
Detector, the working channel for scanning the communication network between unmanned plane and control terminal, to obtain unmanned plane
The management frame of transmission, wherein management frame includes the supervision information of unmanned plane；
Processor, the supervision information for obtaining the unmanned plane in management frame.
Fifth aspect present invention provides a kind of unmanned plane, it may include：
Dynamical system, for providing flying power for unmanned plane；
Control device as described in the third aspect.
As can be seen from the above technical solutions, the embodiment of the present invention has the following advantages：
The case where being different from the prior art, unmanned plane includes the management for supervising information by sending in the embodiment of the present invention
Frame, monitoring equipment are scanned by the working channel between unmanned plane and control terminal, can obtain management frame and from pipe
The supervision information of unmanned plane is demodulated in reason frame, this method can be in the encrypted work not between unmanned plane and control terminal
Data realize the supervision to unmanned plane in the case of being cracked, not only contribute to the individual privacy of protection unmanned plane user,
Also it solves the supervision problem to unmanned plane, while not influencing the normal flight of unmanned plane.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is the data transmission schematic diagram of unmanned plane in the embodiment of the present invention；
Fig. 2 is unmanned aerial vehicle (UAV) control method one embodiment schematic diagram in the embodiment of the present invention；
Fig. 3 is another embodiment schematic diagram of unmanned aerial vehicle (UAV) control method in the embodiment of the present invention；
Fig. 4 is the structural schematic diagram of beacon frames in the embodiment of the present invention；
Fig. 5 is the part-structure schematic diagram in beacon frames in the embodiment of the present invention；
Fig. 6 is the insertion schematic diagram that information is supervised in the embodiment of the present invention；
Fig. 7 is the structural schematic diagram of ProbeRequest in the embodiment of the present invention；
Fig. 8 is the division schematic diagram of working channel in the embodiment of the present invention；
Fig. 9 is another embodiment schematic diagram of unmanned aerial vehicle (UAV) control method in the embodiment of the present invention；
Figure 10 is the structural schematic diagram of ProbeResponse in the embodiment of the present invention；
Figure 11 is unmanned plane monitoring and managing method one embodiment schematic diagram in the embodiment of the present invention；
Figure 12 is another embodiment schematic diagram of unmanned plane monitoring and managing method in the embodiment of the present invention；
Figure 13 is another embodiment schematic diagram of unmanned plane monitoring and managing method in the embodiment of the present invention；
Figure 14 is the data transmission schematic diagram of medium-long range supervising platform of the embodiment of the present invention；
Figure 15 is another embodiment schematic diagram of unmanned plane monitoring and managing method in the embodiment of the present invention；
Figure 16 is control device one embodiment schematic diagram in the embodiment of the present invention；
Figure 17 is monitoring equipment one embodiment schematic diagram in the embodiment of the present invention；
Figure 18 is another embodiment schematic diagram of monitoring equipment in the embodiment of the present invention；
Figure 19 is another embodiment schematic diagram of monitoring equipment in the embodiment of the present invention.
Specific implementation mode
An embodiment of the present invention provides a kind of unmanned aerial vehicle (UAV) control method and control device, unmanned plane monitoring and managing method and supervision to set
Standby, unmanned plane, for realizing the supervision to unmanned plane.
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The every other embodiment that member is obtained without making creative work should all belong to the model that the present invention protects
It encloses.
Term " first ", " second ", " third " in description and claims of this specification and above-mentioned attached drawing, "
The (if present)s such as four " are for distinguishing similar object, without being used to describe specific sequence or precedence.It should manage
The data that solution uses in this way can be interchanged in the appropriate case, so that the embodiments described herein can be in addition to illustrating herein
Or the sequence other than the content of description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that
Cover it is non-exclusive include, for example, containing the process of series of steps or unit, method, system, product or equipment need not limit
In those of clearly listing step or unit, but may include not listing clearly or for these processes, method, production
The intrinsic other steps of product or equipment or unit.
In the embodiment of the present invention, it is assumed that there are unmanned plane, as shown in Figure 1, the unmanned plane can be led to control terminal
Letter connection, to realize that control terminal controls the flight of unmanned plane, while collected data can be sent to control by unmanned plane
Terminal processed.In the embodiment of the present invention, unmanned plane can also be supervised by monitoring equipment, i.e., monitoring equipment can obtain unmanned plane
With the communication data between its control terminal.
In the embodiment of the present invention, it is proposed that a kind of unmanned aerial vehicle (UAV) control method and control device, unmanned plane monitoring and managing method and prison
Tube apparatus, unmanned plane carry supervision information using the working channel transmission of the communication network between unmanned plane and control terminal
Management frame, monitoring equipment can obtain pipe by intercepting the working channel of the communication network between unmanned plane and control terminal
Frame is managed, and can be demodulated from management frame and obtain supervision information, realizes the supervision to unmanned plane.For compared with the prior art, this
Inventive embodiments are conducive to overcome phased-array radar, electronic imaging, the technologies such as sonic detection and radio-frequency signal detection it is unstable,
The problem that operating distance is short, probability of false detection is high, encrypted operational data that also need not be between unmanned plane and control terminal into
Row cracks, and is conducive to the individual privacy safety for protecting unmanned plane user.
It is understood that in the embodiment of the present invention, unmanned plane, i.e. unmanned vehicle can be rotor craft, fixation
The aircraft etc. that rotor aircraft or fixed-wing are mixed with rotor.Wherein, rotor craft can include but is not limited to single rotor, double
More rotors such as rotor, three rotors, quadrotor, six rotors etc., do not limit herein.In practical applications, unmanned plane may be implemented
The movement of various dimensions, such as vertical movement, pitching movement, rolling movement, move forward and backward, carrier can be installed on fuselage
Auxiliary device, with can realize carrier fixation, arbitrarily adjust carrier posture (such as：The height of change carrier,
Inclination angle and/or direction) and so that carrier is stably held in determining posture is first-class, the carrier on auxiliary device may include then
Camera, video camera or sensor etc., with can realize different task execution and unmanned plane it is multi-functional, specifically herein not
It limits.
Further, in the embodiment of the present invention, control terminal can include but is not limited to remote controler, smart mobile phone, tablet,
It is one or more in intelligent wearable device (wrist-watch, bracelet), ground control station, PC, laptop computer etc..
It should be noted that in the embodiment of the present invention, as shown in Figure 1, after unmanned plane establishes communication connection with control terminal,
The upstream data of unmanned plane refers to the communication data that unmanned plane is sent to from control terminal, and the downlink data of unmanned plane refers to from nothing
The man-machine communication data for being sent to control terminal limit herein after, is not repeated to illustrate later.
For ease of understanding, the detailed process in the embodiment of the present invention is described below, referring to Fig. 2, the present invention is real
Applying unmanned aerial vehicle (UAV) control method one embodiment in example includes：
201, the supervision information of unmanned plane is obtained, and supervision information is inserted into management frame；
In the present embodiment, since communication connection can be established between unmanned plane and control terminal, then unmanned plane and control
Terminal can be used as executive agent, in the flight course of unmanned plane, to obtain the supervision information of unmanned plane, and can be into one
Supervision information is inserted into management frame by step.
Specifically, between unmanned plane and control terminal when establishing communication connection, it can be with STA (work station, expression connection
To the equipment in wireless network) it establishes and connect with the mode of AP (access point).Wherein, when unmanned plane is STA, control terminal can be with
For AP, conversely, when unmanned plane is AP, control terminal can be STA, when STA and AP is established and is communicated to connect, can by STA or
Either one in AP sends corresponding management frame so that after either one in STA or AP is by response management frame, the two it
Between establish communication connection.Wherein, the prior art is connected as by management frame foundation between STA and AP, refers to related data, this
Place repeats no more.
202, management frame is sent in the working channel of the communication network using transmitter between unmanned plane and control terminal.
In the present embodiment, after the supervision information for obtaining unmanned plane, can utilize transmitter unmanned plane and control terminal it
Between communication network working channel in send management frame.
Specifically, the connection based on wireline communication network is unfavorable for the flight control of unmanned plane, it is preferred that the present embodiment
In, the communication network between unmanned plane and control terminal can be cordless communication network, and cordless communication network can be further
WI-FI network.In WI-FI network between unmanned plane and control terminal, may exist multiple working channels, unmanned plane or control
Terminal processed can select one of working channel to send management frame.In practical applications, when sending management frame using transmitter,
The transmission power of transmitter can be adjusted so that the WI-FI that management frame can be between unmanned plane and control terminal when sending
It is transmitted in bin width where the working channel of network.
It is understood that unmanned plane is built with control terminal except through the WI-FI network of above description in the present embodiment
Vertical communication connection, in practical applications, can also be through but not limited to bluetooth, software radio (SDR), customized modulation methods
Any one of formula or communications protocol mode are connect with control terminal, are not limited herein specifically.
It should be noted that in the present embodiment, the communication protocol of the communication network between unmanned plane and control terminal can be with
For 802.11 wireless protocols, in practical applications, in the feelings for the concept that the range without departing from the present embodiment disclosure content is covered
Under condition, no matter the present invention wherein describes WI-FI network, which can be by suitable for the another of 802.11 wireless protocols
Kind cordless communication network is substituted, and after described herein as, is not repeated to illustrate later.
In the present embodiment, transmitter can be configured on unmanned plane, can also be configured in control terminal, not limited herein
It is fixed.Since the management frame that control terminal is sent is easy to be blocked by vegetation, building, mountain etc., it is preferable that transmitter can be arranged
On unmanned plane, management frame is sent using the downlink data of unmanned plane.
In the present embodiment, unmanned plane will supervise information be inserted into management frame after, can utilize transmitter with control terminal
Send management frame in the working channel of communication network, monitoring equipment can then utilize detector scanning unmanned plane and control terminal it
Between the working channel that communicates, to obtain the management frame with supervision information, for relatively existing WI-FI technologies, this method can
With in the case where the encrypted operational data not between unmanned plane and control terminal cracks, by demodulating management frame
The supervision information of unmanned plane is obtained, realizes the supervision to unmanned plane, is conducive to the individual privacy safety for protecting unmanned plane user,
And do not influence the flight of unmanned plane.
Based on embodiment illustrated in fig. 2, following embodiment will be using unmanned plane as executive agent, in unmanned plane and control terminal
Between WI-FI network working channel in send management frame schematically illustrated, wherein transmitter can be placed in unmanned plane
On.
It is understood that in the present embodiment, since management frame can be divided into broadcast frame and unicast frame, then according to management
The type of frame is different, and the mode sent in the job information of communication network of the management frame between unmanned plane and control terminal differs
It causes, specifically illustrates separately below：
One, management frame is broadcast frame
In the present embodiment, broadcast frame is sent to the frame of same network segment all devices, wherein broadcast packet is retouched in broadcast frame
The data for stating destination address are to set 1 entirely, are gone out in the form of IP address 255.255.255.255 inside network third layer
It is existing, and be then with destination-mac address FF in the network second layer:FF:FF:FF:FF:The form of FF occurs, and broadcast frame is once sent out,
The equipment of all same network segments can receive the broadcast frame.
Referring to Fig. 3, another embodiment of unmanned aerial vehicle (UAV) control method includes in the embodiment of the present invention：
301, the supervision information of unmanned plane is obtained；
In the present embodiment, in order to be advantageously implemented the supervision of unmanned plane, in the flight course of unmanned plane, unmanned plane can be with
Obtain the supervision information of unmanned plane.
Specifically, the information of supervision information in the present embodiment as instruction unmanned plane relevant parameter, may include but not
It is limited to identity information, location information, flight parameter information, flight attitude information, owner information, the time buying letter of unmanned plane
The position letter of breath, purchase location information, history flight path information, hardware configuration information, check bit information and control terminal
It is one or more in breath.
Wherein, identity information can include but is not limited to the type of manufacturer's identifier and unmanned plane；Believe the position of unmanned plane
At least one of location information when breath can include but is not limited to the current location information of unmanned plane, unmanned plane takes off；Fly
Row parameter information can include but is not limited at least one in flight maximum speed, flight maximum height and current flight speed
Kind；Flight attitude information can include but is not limited at least one of roll angle, pitch angle and yaw angle；Hardware configuration information
It can include, but is not limited to the configuration information of the payload of unmanned plane；Check bit information can be the schools cyclic redundancy CRC
Test code；The location information of control terminal can include but is not limited to location information when unmanned plane takes off, determine in control terminal
At least one of the location information of position equipment output.
It in practical applications, can be by unmanned plane voluntarily there are many modes of the supervision information of unmanned plane acquisition unmanned plane
Acquisition, can also be obtained by unmanned plane by external data source, specific as follows：
1, unmanned plane voluntarily acquires：Sensor-based system and memory can be configured on unmanned plane, wherein sensor-based system can
For obtaining unmanned plane current location information and/or flight attitude information, the body of unmanned plane can be stored in memory
Part information, the flight maximum speed in flight parameter information and/or flight maximum height, owner information, time buying information,
The one or more of the location information of location information, history flight path information, hardware configuration information and control terminal are bought,
Check bit information can then be provided by processor, to realize that the verification to other information, unmanned plane can be obtained by processor
The above- mentioned information of memory storage.
Specifically, sensor-based system may include that GNSS (Global Navigation Satellite System, defend by the whole world
Star navigation system) device, GNSS device can be specially GPS (Global Positioning System, global positioning system)
The positioning to unmanned plane may be implemented in device, GNSS device or GPS device, to acquire the current location information of unmanned plane.Sensing
System can also include Inertial Measurement Unit IMU, and IMU may rely on the flight attitude information that gyroscope obtains unmanned plane, also
It may rely on accelerometer and obtain the current flying speed of unmanned plane, to determine the current state of flight of unmanned plane.
It is understood that sensor-based system in the present embodiment may be used also in practical applications in addition to the content of above description
Think ultrasonic sensor, radar wave sensor, visual sensor (such as camera) or and combinations thereof, do not do herein specifically
It limits.
Further, if flight maximum speed and flight maximum height in flight parameter information are the history of unmanned plane
Flight information, then sensor-based system can be stored in depositing for unmanned plane after getting location information and/or flight attitude information
In reservoir, most with the flight accumulative in history flight course of the history flight path information and unmanned plane that form unmanned plane
Big speed and flight maximum height.And if flight maximum speed and flight maximum height in flight parameter information are nobody
The intrinsic parameter of machine, then for unmanned plane, the flight maximum speed in the identity information of unmanned plane, flight parameter information
And/or flight maximum height, hardware configuration information can be recorded in memory before unmanned plane dispatches from the factory, and can also be in nothing
It is recorded by the unmanned plane owner after man-machine manufacture, and then the owner information of unmanned plane, time buying information, purchase place
Information can then be recorded after unmanned plane manufacture.
In above-mentioned supervision information, when unmanned plane takes off, the sensor-based system on unmanned plane can also obtain unmanned plane and rise
Fly when location information and be stored in memory, if distance controlling terminal is closer when unmanned plane takes off, when unmanned plane takes off
Location information can also be used as the location information of control terminal, conversely, positioning device can be equipped in control terminal, then nothing
The location information of the man-machine positioning device output that can obtain control terminal is stored in storage as the location information of control terminal
In device.
Further, in addition to including fuselage, being connected to the undercarriage of fuselage and the hardware of above description on unmanned plane
Other payloads are also provided with except configuration, on unmanned plane, specifically, unmanned plane can be equipped with for collecting visualization
The different instruments of data, such as various video cameras for being used for image and/or video acquisition, and according to the type and purposes of unmanned plane
Difference, be also provided on unmanned plane such as in relation to agriculture task, transport detection, request of going sightseeing, area-of-interest feature
Equal payloads, to realize the correlation function of unmanned plane.Therefore, the hardware configuration information of unmanned plane can also be stored in unmanned plane
In memory, to further characterize the correlated characteristic of unmanned plane.
2, unmanned plane can obtain supervision information from external data source：Wherein, on the one hand, unmanned plane can be obtained in work
Make the supervision information that the upstream data in channel using unmanned plane is sent, in such a case it is possible to acquire nobody by control terminal
The supervision information of machine, control terminal can utilize the upstream data of unmanned plane to be sent to unmanned plane by information is supervised so that nobody
Machine can obtain the supervision information of control terminal transmission.For example, sensor-based system, the sensor-based system can be equipped in control terminal
Control terminal can be positioned, control terminal can use after the location information of sensor-based system acquisition for obtaining itself
The location information of the control terminal is sent to unmanned plane by the upstream data of unmanned plane.
On the other hand, optionally, the supervision information of unmanned plane can also be provided by server or high in the clouds, you can with by controlling
Terminal obtains supervision information from high in the clouds or server, then will supervise information hair by the upstream data of unmanned plane by control terminal
It send to unmanned plane.For example, the identity sequence number of oneself is sent to control terminal by unmanned plane, control terminal sends out identity sequence number
Server or high in the clouds are given, server can transfer out the monitoring information of unmanned plane, such as unmanned plane according to identity sequence number
Owner information (registration mailbox, phone), server is sent to control terminal by information is supervised, and unmanned plane can be from control eventually
End obtains supervision information.
It is understood that the acquisition of supervision information in practical applications can also in addition to several situations of above description
It is acquired by unmanned plane partially self, partly obtains from external data source, do not limit herein specifically.
It should be noted that in practical applications, according to the actual demand of supervision information and the type of management frame, nobody
The supervision information of machine can be obtained in real time, can also periodically be obtained, not limited herein specifically.
302, the specific fields in information insertion broadcast frame will be supervised；
In the present embodiment, after the supervision information for obtaining unmanned plane, supervision information can be inserted into broadcast frame by unmanned plane
Specific fields.
Specifically, the broadcast frame in the present embodiment may include beacon frames, Probe Request.In WI-FI scenes
Under, STA (work station indicates the equipment being connected in wireless network) can be established by different modes and AP (access point) to be connected
It connects, wherein when the broadcast frame that unmanned plane is sent is beacon frames, unmanned plane can be used as AP, as shown in figure 4, beacon frames
May include the part MAC header, the parts Mandatory, the parts Optional, the parts MAC header and the portions Mandatory
It is allocated as the fixed position for beacon frames, can be written by memcpy functions by the processor of unmanned plane, in memcpy functions
To in the ablation process of beacon frames, information needed can be obtained from virtual interface, may be used when write-in directly multiple
The method of system, for example, in the parts MACheader, DA is MAC destination addresses, due to the broadcast of beacon frame periodicity sendings
Frame, MAC destination addresses can be FF:FF:FF:FF:FF:FF, SA are source MAC, and source MAC generally can be unmanned plane
The MAC Address section of manufacturer's application.In general, the parts Optional of beacon frames can not necessarily use, only in need to use
When just will appear, include several reserved fields, i.e. information element in the parts Optional, if will be to beacon frame structure words
Section make increase, then need utilize information element, as shown in figure 5, in information element at least can include ElementID fields,
The field of Length fields and indefinite length.Therefore, after getting the supervision information of unmanned plane, supervision information can be inserted into
In the information element of beacon frames, i.e. specific fields.Further, the field of indefinite length can be used as certainly in information element
Part is defined, to be inserted into supervision information in self-defined part, for example, it is assumed that it includes latitude that the supervision information of unmanned plane, which is,
(Latitude), longitude (Longitude), the location information of height above sea level (Altitude), manufacturer's identifier (OUI) and CRC-16
Check code, then ElementID fields can be added in the form of field as shown in FIG. 6, behind Length fields.
Wherein, when the broadcast frame that unmanned plane is sent is Probe Request, unmanned plane can be STA, as shown in fig. 7,
The control terminal being connect with unmanned plane can be AP, and the supervision information got can be inserted into Probe by unmanned plane
In Request, specific insertion method can refer to the insertion method of beacon frames, not do specific restriction herein.
Further, in the present embodiment, for supervising information and be inserted into the specific fields of beacon frames, based on supervision information
Size and beacon frames in specific fields size, the inserted mode for supervising information specific fields in beacon frames can be with
Based on different modes：
1, entire supervision information is inserted into the specific fields in a beacon frame：
In practical applications, when the size of the specific fields of beacon frames can be used for being inserted into an entirely supervision information,
One can entirely be supervised specific fields of the information as an information overall package in beacon frames, so that unmanned plane
When monitoring equipment carries out supervision to unmanned plane, a beacon frame is often got, you can parsing obtains a complete supervision letter
Breath.
2, the specific fields in beacon frames are inserted into after being split entire supervision information：
Specifically, since the data volume that beacon frames can carry is limited, unmanned plane can also utilize processor whole by one
A supervision information splits into the supervision information segment of predetermined number, such as 10 supervision information segments, and can be by this predetermined number
Supervision at least one of information segment supervision information segment be inserted into the specific fields in beacon frames, i.e., 10 supervision information
Segment can be inserted into the specific fields of 10 beacon frames respectively, and multiple supervision information can also be inserted into a beacon frame
10 supervision information segments are such as inserted into the specific fields in 5 beacon frames by segment respectively.
It is understood that in practical applications, when being inserted at least one supervision information segment in a beacon frame,
The number for the supervision information segment being inserted between two beacon frames can be inconsistent, does not limit herein.
3, will be after entire supervision information be split, supervising information segment, it with corresponding sequence number is inserted into beacon frames
In specific fields：
Specifically, in order to which scattered supervision information segment is combined conducive to monitoring equipment to obtain complete supervision letter
Breath, unmanned plane, can also be into after one entire supervision information is split into the supervision information segment of predetermined number using processor
One step determines the sequence number for supervising each supervision information segment in information segment of predetermined number using processor, and can incite somebody to action
At least one of supervision information segment of predetermined number supervises information segment sequence corresponding at least one supervision information segment
Row number is inserted into the specific fields in beacon frames.
For example, after one entire supervision information is split into 3 supervision information segments using processor, processing can also be utilized
Device determines the corresponding sequence number of this 3 supervision information segments, such as 1,2,3, then can be by 3 supervision information segments according to supervision
Putting in order for information is combined with corresponding sequence number, such as first supervision information segment and 1, second supervision message slot
Section and 2, third supervise information segment and 3, the specific word that then can be inserted into said combination respectively in 3 beacon frames
Section.It should be noted that supervised in the present embodiment information segment and corresponding sequence number in beacon frames specific fields it is slotting
Enter the second way that mode is referred to above description, only supervises information segment and attached corresponding sequence number, this implementation
Example by way of example only, does not limit herein.
It is understood that in the present embodiment, when broadcast frame is Probe Request, above-mentioned three are equally may be used
Kind mode is inserted into supervision information, and only the type of broadcast frame is changed, and is not limited herein.
It should be noted that the present embodiment only illustrates supervision information specific fields in broadcast frame with above-mentioned several examples
Inserted mode, in practical applications, can also be illustrated with above-mentioned several examples supervise information specific fields in broadcast frame
The inserted mode of self-defined part, can be to hair when will such as supervise information and be split at the same time it can also use other manner
The broadcast frame sent carries out sequence identifier according to the fractionation of supervision information, does not limit herein specifically.
303, it is obtained using processor each in multiple working channels of the communication network between unmanned plane and control terminal
The working condition of a working channel；
In the present embodiment, after unmanned plane will supervise the specific fields in information insertion broadcast frame, it can be obtained using processor
Take the working condition of each working channel in multiple working channels of the communication network between unmanned plane and control terminal.
Specifically, in WI-FI network, no matter unmanned plane sends broadcast frame as AP or STA, can be equipped with letter
Road list.In general, unmanned plane can send broadcast frame using transmitter on any operative channel in channel list, so
And different working channels has corresponding working condition, working condition is inconsistent, and the quality of working channel is inconsistent.Therefore,
In order to which unmanned plane can send broadcast frame in the preferable working channel of channel quality, unmanned plane can utilize processor to obtain nothing
The working condition of each working channel in multiple working channels of the man-machine WI-FI network between control terminal.
In the present embodiment, the working condition of working channel at least may include the current bandwidth of working channel.In WI-FI nets
Can be mainly the two common frequency bands of 2.4GHZ and 5GHZ by the channel used in WI-FI agreements in network, region is different,
The channel open degree of the two common frequency bands of 2.4GHZ and 5GHZ differs, and for China, in 2.4GHZ frequency ranges, is provided
For working channel compared with horn of plenty, it is available to share 13 working channels, and in 5GHZ frequency ranges, the available working channel in China is only
5, each working channel occupies certain bandwidth, and the bandwidth of each working channel is inconsistent, and transmission rate also will be inconsistent.
For example, it is assumed that the bin width of 5GHZ is total up to 100MHZ, non-interfering 10 working channels are averagely divided into,
The bandwidth of so each working channel is 10MHZ, and in practical applications, it is existing there may be being overlapped between several working channels
As that is, in the case where the bandwidth of each working channel is 10MHZ, the frequency range broadband of 5GHZ can be divided into interfere with each other 10
A above working channel.Therefore, the use feelings of the division based on working channel, the difference of communication protocol and working channel
The factors such as condition, unmanned plane can obtain multiple working channels of its WI-FI network between control terminal using processor
The current bandwidth of each working channel, suitably to be selected multiple working channels.
It is understood that in the present embodiment working channel working condition in addition to the working channel of above description it is current
Bandwidth can also include in practical applications other parameters, as the current capacity of working channel, current handling capacity, it is current
Error rate etc., does not limit herein.
It should be noted that the processor in the present embodiment can be placed on unmanned plane, limit herein after, it is later
It is not repeated to illustrate.
304, the working channel of a transmission broadcast frame is selected according to working condition using processor；
In the present embodiment, multiple working channels of the communication network between unmanned plane and control terminal are obtained using processor
In each working channel working condition after, can utilize processor according to working condition select one transmission broadcast frame work
Make channel.
Specifically, unmanned plane is obtained using processor in multiple working channels after the working condition of each working channel,
The working channel that working condition can be selected best is as the working channel for sending broadcast frame.In practical applications, also may be used
It is compared with the relevant parameter in the working condition to each working channel, to select related ginseng in multiple working channels
The preferable working channels of number as the working channel for sending broadcast frame, for example, the current error rate of selection working channel compared with
A low working channel, can also select no overlap condition and the working channel of working condition most preferably is wide as sending
The working channel for broadcasting frame can also select the maximum working channel of bandwidth as transmission broadcast frame to reduce signal interference
Working channel.
For example, in 2.4GHZ frequency ranges, unmanned plane can use the frequency of 2400MHZ to 2500MHz using WI-FI network,
But when the gap of this 100MHz will divide equally to 14 different working channels, if 14 working channel summations are more than 100MHz,
Then as shown in figure 8, will have working channel in 2.4GHz frequency ranges is in overlap condition, and due to working channel 1, working channel
Spacing distance between 6 and working channel 11 farther out, it is most common to also become three that will not overlap each other and interfere
Working channel, then can select the preferable working channel of working condition wide as sending between these three working channels
Broadcast the working channel of frame.
It is understood that distinct device is using overlapping and unmanned plane safe to use in order to prevent, in reality
In, it should according to the specifically used scope of unmanned plane and the communication network used, in the frequency range that unmanned plane can use
The suitable working channel of selection in range, for example, China plan 840.5MHz to 845MHz, 1430MHz to 1444MHz and
2408MHz is used for push-button aircraft system to 2440MHz frequency ranges, and the content that above-mentioned example illustrates is only to schematically illustrate.
305, using transmitter in the working channel chosen broadcast frame is sent using the downstream data cycle of unmanned plane.
In the present embodiment, unmanned plane selects the working channel of a transmission broadcast frame using processor according to working condition
Afterwards, transmitter can be utilized to send broadcast frame using the downstream data cycle of unmanned plane in the working channel chosen.
Specifically, since broadcast frame is fixed time broadcast, then unmanned plane can pre-set transmit cycle, so that can profit
Broadcast frame can be sent according to transmit cycle with transmitter, for example, every five seconds for example sends a broadcast frame.Wherein, since transmitter is matched
It is placed on unmanned plane, then transmitter can be utilized to use the downlink of unmanned plane in the working channel that processor is chosen
Data send broadcast frame.
Further, the explanation based on above-described embodiment, optionally, in the transmission process of broadcast frame, in order to prevent extensively
It broadcasts frame to listen equipment to steal the supervision information of unmanned plane by the frame other than monitoring equipment and endanger the safety of unmanned plane, nothing can be reinforced
The safeguard protection of man-machine supervision information.
Specifically, unmanned plane after getting supervision information, can utilize processor according to preset encryption rule to prison
Pipe information is encrypted, and can by encrypted supervision information be inserted into broadcast frame, even if so that broadcast frame after being stolen,
It can not still parse to obtain the supervision information of unmanned plane.However, the preset encryption rule can be unmanned plane monitoring equipment
The encryption rule known, so that monitoring equipment can pass through known preset encryption rule pair after scanning to broadcast frame
Encrypted supervision information is decrypted, and is realized and supervised to unmanned plane using the supervision information that decryption obtains.
It is understood that it is referred to the prior art for the preset encryption rule of supervision information in the present embodiment,
Details are not described herein again.
Two, management frame is unicast frame
In the present embodiment, unicast frame be only there are one or specific purpose address frame, just for the ground of some device node
Location is sent, and only some or specific node respond.
Referring to Fig. 9, another embodiment of unmanned aerial vehicle (UAV) control method includes in the embodiment of the present invention：
The step 301 of step 901 in the embodiment of the present invention as shown in figure 3 in embodiment is identical, and details are not described herein again.
902, the supervision claim frame that the monitoring equipment of unmanned plane is sent is received using receiver；
In the present embodiment, in the case where unmanned plane does not send the management frame for being inserted with supervision information actively, the prison of unmanned plane
Tube apparatus can send supervision claim frame to unmanned plane, to obtain the supervision information realization of unmanned plane to the supervision to unmanned plane,
To which unmanned plane can receive the supervision claim frame using receiver.
903, the specific fields in information insertion unicast frame will be supervised；
In the present embodiment, after unmanned plane receives the supervision claim frame of monitoring equipment transmission of unmanned plane using receiver,
The specific fields that the supervision information of acquisition can be inserted into unicast frame.
Specifically, the unicast frame in the present embodiment can be Probe Response, then what opposite monitoring equipment was sent
For supervising claim frame, the supervision claim frame that the receiver of unmanned plane receives at this time can be Probe Request.In WI-FI
Under scene, the monitoring equipment of unmanned plane can be STA, and unmanned plane can be AP, and monitoring equipment to unmanned plane by sending Probe
Request, unmanned plane can send out Probe Response after receiving Probe Request to monitoring equipment.Wherein, edge
With Fig. 7, the Probe Request in the present embodiment can also include the parts MACheader and the parts Frame body, but
The setting of the parts Frame body, SSID can be based on different situations：
1, the beacon frames of unmanned plane transmission are not received by before monitoring equipment (inserted with unmanned plane in the beacon frames
History supervise information) or other management frames (history inserted with unmanned plane supervises information in the management frame) or monitoring equipment
In do not store any relevant information about unmanned plane, then monitoring equipment can broadcast Probe Request, at this
In Probe Request, the SSID of the parts Frame body can all be set to 0, as sky SSID.
2, there are the beacon frames for receiving unmanned plane transmission (inserted with unmanned plane in the beacon frames before monitoring equipment
History supervises information) or other management frames (history inserted with unmanned plane supervises information in the management frame) or monitoring equipment in
It is stored with the relevant information about unmanned plane, then monitoring equipment can select broadcast Probe Request, i.e. Frame body
Partial SSID is sky SSID, can also select unicast Probe Request, then in unicast Probe Request, Frame
The SSID of the parts body can be the SSID specified, you can with the SSID for unmanned plane.
Further, no matter Probe Request are unicast or broadcast, and can be carried in Probe Request
The relevant information of monitoring equipment, so that the Probe that unmanned plane can be sent with Probe Response response monitoring equipments
Request continues to use Fig. 4, and as shown in Figure 10, Probe Response contain all parameters of Beacon frames, then unmanned plane
Specific fields of the processor in Probe Response can be utilized to be inserted into supervision information, be specifically referred to real shown in Fig. 3
The partial content for the beacon frames that step 302 illustrates in example is applied, details are not described herein again.
It should be noted that in the present embodiment, supervision information can also be inserted into Probe Response in different ways
In specific fields, be specifically referred to the content that step 302 in embodiment illustrated in fig. 3 illustrates, details are not described herein again.
It is understood that the step 902 in the present embodiment can execute before step 901, it can also be with step 901
It is performed simultaneously, as long as being executed before step 903, does not limit herein specifically.
The step 303 of step 904 in the present embodiment as shown in figure 3 in embodiment is identical, and details are not described herein again.
905, the working channel of a transmission unicast frame is selected according to working condition using processor；
In the present embodiment, multiple working channels of the communication network between unmanned plane and control terminal are obtained using processor
In each working channel working condition after, can utilize processor according to working condition select one transmission unicast frame work
Make channel.
In the present embodiment, in addition to the management frame of transmission is unicast frame, content as shown in figure 3 say in embodiment by step 304
Bright content is identical, and details are not described herein again.
906, using transmitter in the working channel chosen unicast frame is sent using the downlink data of unmanned plane.
In the present embodiment, unmanned plane selects the working channel of a transmission unicast frame using processor according to working condition
Afterwards, transmitter can be utilized to send unicast frame using the downlink data of unmanned plane in the working channel chosen.
Specifically, since unmanned plane is asked in response to the supervision after receiving the supervision claim frame that monitoring equipment is sent out
Frame and send unicast frame, therefore, in the present embodiment, the transmission of unicast frame does not have periodically, and the sending time of unicast frame can be with
Receiving time dependent on supervision claim frame.
Further, the explanation based on above-described embodiment, optionally, the supervision information being inserted into unicast frame can also use
Preset encryption rule is encrypted, and is specifically referred to content described above, details are not described herein again.
It is understood that the embodiment of the present invention is only beacon frames, Probe Request, Probe with management frame
The monitoring and managing method of unmanned plane is carried out for Response for example, in practical applications, management frame is not limited in above-mentioned
Hold, can also be other broadcast frames or unicast frame, for example, when unmanned plane and control terminal are bluetooth connection, can also utilize
The beacon information of bluetooth broadcasts supervision information, does not limit this time.
The unmanned aerial vehicle (UAV) control method in the embodiment of the present invention is described from the angle of unmanned plane side above, below
The unmanned plane monitoring and managing method in the embodiment of the present invention is described from the angle of monitoring equipment side, please refers to Fig.1 1, this hair
Unmanned plane monitoring and managing method one embodiment includes in bright embodiment：
1101, the working channel of the communication network between detector scanning unmanned plane and control terminal is utilized；
In the present embodiment, monitoring equipment realizes the supervision to unmanned plane, Ke Yili to obtain the supervision information of unmanned plane
With the working channel of the communication network between detector scanning unmanned plane and control terminal.
Specifically, can be equipped with detector on monitoring equipment, what detector can be between unmanned plane and control terminal is logical
Whether scan round on the working channel of communication network sends the supervision inserted with unmanned plane with sensorcraft in working channel
The management frame of information.Based on control terminal to the flight characteristic of fly control and the unmanned plane of unmanned plane, unmanned plane and control
Communication network between terminal can be cordless communication network, it is preferred that cordless communication network can be WI-FI network.In reality
In the application of border, the supervision for the ease of monitoring equipment to unmanned plane, the communication network between unmanned plane and control terminal can be
Known to monitoring equipment.Therefore, when the communication network between unmanned plane and control terminal is WI-FI network, monitoring equipment can
It is scanned with the working channel of the WI-FI network using detector between unmanned plane and control terminal.
It is understood that unmanned plane is built with control terminal except through the WI-FI network of above description in the present embodiment
Vertical communication connection, in practical applications, can also be through but not limited to bluetooth, software radio (SDR), customized modulation methods
Any one of formula or communications protocol mode are connect with control terminal, then monitoring equipment can also utilize detector scanning such as
Unmanned plane and the working channel used when control terminal bluetooth connection, do not limit specifically herein.
It should be noted that in the present embodiment, the communication protocol of the communication network between unmanned plane and control terminal can be with
For 802.11 wireless protocols, in practical applications, in the feelings for the concept that the range without departing from the present embodiment disclosure content is covered
Under condition, no matter the present invention wherein describes WI-FI network, which can be by suitable for the another of 802.11 wireless protocols
Kind cordless communication network is substituted, and after described herein as, is not repeated to illustrate later.
1102, the management frame that unmanned plane is sent is obtained using detector；
In the present embodiment, monitoring equipment utilizes the work of the communication network between detector scanning unmanned plane and control terminal
After channel, if the management frame that scanning is sent to unmanned plane, detector can be utilized to obtain the management frame that unmanned plane is sent, wherein
May include the supervision information of unmanned plane in management frame.
1103, the supervision information of the unmanned plane in management frame is obtained using processor.
In the present embodiment, monitoring equipment is also provided with processor, in the pipe for getting unmanned plane transmission using detector
After managing frame, the management frame of acquisition can be demodulated using processor, to obtain the supervision information of the unmanned plane in management frame,
To will be seen that the relevant parameter of unmanned plane by the supervision information of the unmanned plane of acquisition, and realize the supervision to unmanned plane.
It is understood that in the present embodiment, management frame can be divided into broadcast frame and unicast frame, be sent based on unmanned plane
The type of management frame is different, and the mode that monitoring equipment obtains management frame is inconsistent, and WI-FI network sending tube is being utilized with unmanned plane
For reason, specifically illustrate separately below：
One, management frame is broadcast frame
In the present embodiment, broadcast frame is the frame that unmanned plane is sent to same network segment all devices, and monitoring equipment can pass through
Detector scanning unmanned plane may send the working channel of broadcast frame, to obtain broadcast frame.
2 are please referred to Fig.1, another embodiment of unmanned plane monitoring and managing method includes in the embodiment of the present invention：
1201, multiple working channels of the communication network between detector scanning unmanned plane and control terminal are utilized；
In the present embodiment, after monitoring equipment is opened, it can utilize logical between detector scanning unmanned plane and control terminal
Multiple working channels of communication network.
Specifically, after unmanned plane and control terminal establish communication connection, corresponding communication network may exist multiple works
Make channel for unmanned plane and control terminal transmission data, since unmanned plane is mostly to use point-to-point communication, then each unmanned plane institute
Working channel has difference, and some specifically used working channel of indefinite unmanned plane, then working channel number compared with
In the case of more, monitoring equipment can be scanned multiple working channels using detector, to lead to by using multiple receive
The mode of road frequency-division section covering, ensures that capture time meets the requirement of supervision, realizes the supervision to one or more unmanned planes.
In practical application, monitoring equipment can be different to the scan mode of multiple working channels using detector, specific as follows：
1, multiple working channels of the communication network between a detector wheel scan flow unmanned plane and control terminal are utilized：
Detector there are one being set on monitoring equipment, a detector can carry out scan round in turn to multiple working channels, for example, false
If based on the communication network between unmanned plane and control terminal, multiple working channels that unmanned plane can use be working channel 1,
Working channel 2 and working channel 3, then monitoring equipment can utilize detector successively to working channel 1, working channel 2, work
Make channel 3 and carries out scan round.
2, multiple working channels are distributed into multiple detectors, the work of each scanning predetermined number in multiple detectors
Make channel：Monitoring equipment can be equipped with multiple detectors, each detector can scan the working channel of predetermined number, with reality
Now to the scanning of multiple channels, for example, it is assumed that based on the communication network between unmanned plane and control terminal, unmanned plane can use
Multiple working channels be 10 working channels, have 5 detectors on monitoring equipment, then each detector can take turns respectively
2 working channels of scan flow.It should be noted that in the present embodiment when there are multiple detectors, each detector scanning
The predetermined number of working channel can be inconsistent, a such as detector can take turns 2 working channels of scan flow, another detection
Device can take turns 3 working channels of scan flow, and the present embodiment by way of example only, does not limit herein.
Based on second of scan mode, further, in the present embodiment, multiple detectors can be set to a monitoring equipment
On, multiple detector can be only fitted to different regions, and can be between this multiple detector and the processor of monitoring equipment
Pass through wired or wireless connection.Further, multiple detectors can also be set on multiple monitoring equipments, for multiple detections
For device and multiple monitoring equipments, a monitoring equipment can be configured at least one detector, and each monitoring equipment
Different regions is can be only fitted to, each detector that each monitoring equipment is equipped with can also configure in different regions, from
And monitoring equipment can supervise unmanned plane in different geographical locations, for example, monitoring equipment can be located at restricted area,
Non- restricted area can be located at, do not limited herein specifically.
In addition, being covered by multiple detector frequency-division sections, the capture for receiving monitoring equipment to broadcast frame can be not only reduced
Time can also realize redundant backup function, wherein in the case of the receiving channel damage of a detector, can use residue
The receiving channel of detector realizes full frequency band covering, to improve the reliability of monitoring equipment.
Wherein, restricted area is the region for limiting unmanned plane during flying, is specifically referred to existing specification explanation, herein no longer
It repeats.
It is understood that in practical applications, since broadcast frame is that timing is sent, being visited then monitoring equipment can utilize
It surveys device to be scanned in real time, can also periodically be scanned, not limit herein specifically.
1202, the broadcast frame of unmanned plane periodicity sending is obtained using detector；
In the present embodiment, multiple working channels of the communication network between detector scanning unmanned plane and control terminal are utilized
Afterwards, if the broadcast frame that scanning is sent to unmanned plane, detector can be utilized to obtain the broadcast frame that unmanned plane is sent, wherein broadcast
May include the supervision information of unmanned plane in frame.
Specifically, in the present embodiment, broadcast frame that monitoring equipment obtains may include beacon frames, Probe Request,
When unmanned plane sends beacon frames or Probe Request, nobody is inserted in beacon frames or Probe Request
Supervision information.(inserted mode can be by monitoring equipment it is known that can also for inserted mode based on supervision information in broadcast frame
Learned by the supervision information of acquisition after demodulating broadcast frame), monitoring equipment is obtaining unmanned plane periodically hair using detector
When the broadcast frame sent, there can be corresponding acquisition modes：
If 1, an entire supervision information is inserted into a broadcast frame by unmanned plane, then monitoring equipment can utilize each time
Detector obtains the broadcast frame of the unmanned plane periodicity sending of a frame number, you can obtains a complete supervision information.
If 2, unmanned plane is inserted into after being split an entire supervision information in multiple broadcast frames, then monitoring equipment is each
A complete supervision just can be obtained in the secondary broadcast frame for needing to obtain the unmanned plane periodicity sending for presetting frame number using detector
Information.
In the present embodiment, the description as described in beacon frames, Probe Request are broadcast frame is referred to above-described embodiment
Explanation, details are not described herein again.
1203, the supervision information of unmanned plane is obtained from the specific fields in broadcast frame using processor.
In the present embodiment, after the broadcast frame that unmanned plane periodicity sending is obtained using detector, monitoring equipment can utilize
Processor obtains the supervision information of unmanned plane from the specific fields in broadcast frame.
Specifically, since unmanned plane can will supervise the specific fields in information insertion broadcast frame, then monitoring equipment is sharp
After being demodulated to broadcast frame with processor, the supervision information of unmanned plane can be obtained from the specific fields of broadcast frame.Further,
If unmanned plane will supervise the self-defined part for the specific fields that information is inserted into broadcast frame, then monitoring equipment can utilize processing
Device obtains the supervision information of unmanned plane from the self-defined part of the specific fields of broadcast frame.
In the present embodiment, based on the acquisition modes of broadcast frame in step 1202, it is with the broadcast frame that monitoring equipment obtains
For beacon frames, the acquisition to supervising information illustrates：
If 1, inserted with an entire supervision information in a beacon frame, then monitoring equipment gets one using detector
After a beacon frames, beacon frames can be demodulated using processor, and can be to the parts Optional of beacon frames
Specific fields parsed, so as to obtain a complete supervision information.
If 2, an entire supervision information is inserted into after splitting in beacon frames, then monitoring equipment is got using detector
After the beacon frames of default frame number, the beacon frames for presetting frame number can be demodulated using processor, and can be to default
The specific fields of the parts Optional of the beacon frames of frame number are parsed (can have at least one in each beacon frame
Supervise information segment), multiple supervision information segments are obtained, multiple supervision information segments are combined and can be obtained according to preset mode
To a complete supervision information.
Wherein, for the combination conducive to multiple supervision information segments, if in each beacon frame, each supervision letter
Ceasing segment correspondence, there are one sequence numbers, then can be combined to multiple supervision information segments according to sequence number.For example, it is assumed that
One complete supervision information has split into 3 supervision information segments, this 3 supervision information segments and corresponding sequence number 1,2,
3 are respectively inserted into the specific fields of 3 beacon frames, then after monitoring equipment is demodulated 3 beacon frames using processor,
The 3 supervision information segments that can be obtained according to sequence number 1,2,3 Duis carry out permutation and combination, obtain a complete supervision letter
Breath.
It is understood that the above-mentioned content for combining multiple supervision information segments according to preset mode in the present embodiment
By way of example only, in practical applications, monitoring equipment is also based on unmanned plane to multiple supervision information segments in beacon
Multiple supervision information segments are carried out corresponding combination, for example, it is assumed that unmanned plane can by the inserted mode of frame and corresponding mark
To carry out sequence identifier to beacon frames, if after a complete supervision information has split into 3 supervision information segments, nobody
Machine according to beacon frames sequence identifier by 3 supervision information segments be respectively inserted into beacon frames 1, beacon frames 2 and
In beacon frames 3, then monitoring equipment can according to the sequence identifier of each beacon frame to multiple supervision information segments into
Row combination, does not limit specifically herein.
In the present embodiment, the supervision information for the unmanned plane that monitoring equipment obtains can include but is not limited to the identity of unmanned plane
Information, location information, flight parameter information, flight attitude information, owner information, time buying information, purchase location information,
History flight path information, hardware configuration information, check bit information and control terminal location information in one kind or more
Kind.By the acquisition to supervising information, monitoring equipment will be seen that the relevant parameter of unmanned plane, be better achieved to unmanned plane
The positioning to unmanned plane may be implemented for example, supervising the location information of unmanned plane in information by acquisition in supervision.
Wherein, identity information can include but is not limited to the type of manufacturer's identifier and unmanned plane；Believe the position of unmanned plane
At least one of location information when breath can include but is not limited to the current location information of unmanned plane, unmanned plane takes off；Fly
Row parameter information can include but is not limited at least one in flight maximum speed, flight maximum height and current flight speed
Kind；Flight attitude information can include but is not limited at least one of roll angle, pitch angle and yaw angle；Hardware configuration information
It can include, but is not limited to the configuration information of the payload of unmanned plane；Check bit information can be the schools cyclic redundancy CRC
Test code；The location information of control terminal can include but is not limited to location information when unmanned plane takes off, determine in control terminal
At least one of the location information of position equipment output.
Further, the explanation based on above-described embodiment optionally can be equipped with display on monitoring equipment, aobvious at this
The supervision information of unmanned plane can be shown by showing on device, intuitively, clearly to embody unmanned plane relevant parameter to supervision user
Information.It is understood that the display mode of supervision information over the display can be various, such as list, do not limit herein specifically
It is fixed.
Further, after monitoring equipment gets supervision information, processor can also be utilized according to supervision information into one
The harmful grade of step assessment unmanned plane, different emergent arrange can be formulated or started according to the harmful grade of unmanned plane
It applies, realizes the differentiation to the unmanned plane of different harmful grades and security control.
Specifically, harmful grade can be used for describing the current safe coefficient of unmanned plane, harmful grade is higher, unmanned plane by
The security threat arrived will be bigger, more be unfavorable for supervision of the monitoring equipment to unmanned plane.In this implementation, monitoring equipment can utilize place
It manages device and determines the location information supervised in information, and the harmful grade of location information assessment unmanned plane can be utilized, for example, processing
Device can further determine that the flight path of unmanned plane according to the location information of unmanned plane, then passing through the flight road to unmanned plane
The parsing of diameter and comparison with preset flight path, it can be determined that whether unmanned plane deviates preset flight path, if partially
Bigger from degree, harmful grade is higher, and for another example processor can such as limit unmanned plane according to the location information of unmanned plane
The intrusion detection for flying area, if unmanned plane, closer to restricted area, harmful grade will be higher.
It should be noted that in the present embodiment, monitoring equipment assesses the hazard class of unmanned plane otherwise using processor
In addition to the content of above description, in practical applications, other manner can also be used, as long as the hazard class of unmanned plane can be assessed
Not, such as since detector can be configured at different regions, then can using processor acquisition detector position come
It determines whether unmanned plane is located at such as illegal operating area, the harmful grade of unmanned plane is assessed with this, is not limited herein specifically
It is fixed.
Two, management frame is unicast frame
In the present embodiment, unicast frame is the frame that unmanned plane is sent to a certain monitoring equipment, which can pass through spy
The working channel of unicast frame may be sent by surveying device scanning unmanned plane, to obtain unicast frame.
3 are please referred to Fig.1, another embodiment of unmanned plane monitoring and managing method includes in the embodiment of the present invention：
1301 in the present embodiment are identical as the step 1201 in embodiment illustrated in fig. 12, and details are not described herein again.
1302, the supervision claim frame for unmanned plane is sent using transmitter；
In the present embodiment, monitoring equipment is in the work using the communication network between detector scanning unmanned plane and control terminal
In the case that management frame has not been obtained in channel, unmanned plane can be defaulted as and do not send the management frame for being inserted with supervision information actively,
So monitoring equipment can utilize transmitter transmitting for the supervision claim frame of unmanned plane, to obtain the supervision information of unmanned plane.
Wherein, the relevant information of monitoring equipment can be carried by supervising in claim frame, so that unmanned plane can be according to prison
The relevant information of tube apparatus responds the supervision claim frame of the monitoring equipment in the form of unicast frame.
In the present embodiment, the supervision claim frame that monitoring equipment is sent using transmitter can be Probe Request,
The structure of Probe Request is referred to Fig. 7.Meanwhile the transmission of Probe Request can be based on two different feelings
Condition, i.e., the parts Frame body in Probe Request, SSID can be sky, or the SSID of unmanned plane, specifically
Content is referred to the content that step 903 illustrates in embodiment illustrated in fig. 9, and details are not described herein again.
1303, after unmanned plane receives supervision claim frame, detection is asked using what detector acquisition was sent from unmanned plane
Seek the unicast frame that frame is responded；
In the present embodiment, after monitoring equipment sends the supervision claim frame for unmanned plane using transmitter, it can utilize and visit
It surveys device and receives the unicast frame responded to supervision claim frame sent from unmanned plane.
Specifically, monitoring equipment can utilize the work of communication network of the detector between unmanned plane and control terminal to believe
Road constantly carries out real time scan, to prevent from omitting the unicast frame of unmanned plane transmission.In the present embodiment, if monitoring equipment is sent before this
Supervision claim frame can be Probe Request, then correspondingly, monitoring equipment obtain unicast frame can be Probe
Response, since Probe Response contain all parameters of beacon frames, then Probe Response can be as
The form of beacon frames is inserted with supervision information.
It is different based on inserted mode of the supervision information in unicast frame, then the mode that monitoring equipment obtains unicast frame can be with
It is corresponding different：
If 1, an entire supervision information is inserted into a unicast frame by unmanned plane, then monitoring equipment utilizes detection each time
Device obtains the unicast frame that the unmanned plane of a frame number is sent, you can obtains a complete supervision information.
If 2, unmanned plane is inserted into after being split an entire supervision information in multiple unicast frames, then monitoring equipment is each
The secondary unicast frame for needing to obtain the unmanned plane transmission for presetting frame number using detector, just can be obtained a complete supervision information.
It is understood that in practical applications, if the transmission of monitoring equipment active request unmanned plane includes supervision information
Management frame can also be performed simultaneously with step 1301 then can not also be executed before step 1301 1302, if
It executes before step 1303, does not limit this time.
1304, the supervision information of unmanned plane is obtained from the specific fields in unicast frame using processor.
Step 1304 in the present embodiment, in addition to management frame is unicast frame, in other contents and embodiment illustrated in fig. 12
Step 1203 is identical, and details are not described herein again.Wherein, when unicast frame is Probe Response, the acquisition for supervising information can be with
Content when reference broadcast frame is beacon frames.
It should be noted that the embodiment of the present invention only with the management frame of acquisition be beacon frames, Probe Request,
For Probe Response, the monitoring and managing method of unmanned plane has been carried out for example, in practical application in monitoring equipment side
In, management frame is not limited to the above, can also be other broadcast frames or unicast frame, for example, when unmanned plane is with control terminal
When bluetooth connection, monitoring equipment can also obtain unmanned plane (wherein to be believed inserted with supervision using the beacon information of Bluetooth broadcast
Breath), it does not limit this time.
It is understood that in practical applications, it is also provided with the remote supervisory platform communicated to connect with monitoring equipment,
As shown in figure 14, it is assumed that there are unmanned plane 1, unmanned plane 2, unmanned plane 3, corresponding, there may be what is communicated to connect with unmanned plane 1
Control terminal 1, the control terminal 2 communicated to connect with unmanned plane 2, the control terminal 3 communicated to connect with unmanned plane 3, and supervision
The monitoring equipment 1 of unmanned plane 1, the monitoring equipment 2 for supervising unmanned plane 2, the monitoring equipment 3 for supervising unmanned plane 3, then monitoring equipment
1, monitoring equipment 2, monitoring equipment 3 can be connect with remote supervisory Platform communication, which can obtain multiple
The supervision information that monitoring equipment obtains, to realize the turnkey to multiple unmanned planes.Therefore, it is based on embodiment illustrated in fig. 11, is asked
Refering to fig. 15, another embodiment of unmanned plane monitoring and managing method includes in the embodiment of the present invention：
Step 1101 in step 1501 in the present embodiment to step 1503 and embodiment illustrated in fig. 11 is to step 1103
Identical, details are not described herein again.
1504, using processor remote supervisory platform is sent to by information is supervised.
It, can be with after monitoring equipment obtains the supervision information of the unmanned plane in management frame using processor in the present embodiment
Using processor remote supervisory platform is sent to by information is supervised.
Specifically, monitoring equipment after being demodulated to obtain supervision information to management frame using processor, can utilize place
Supervision information is further sent to remote supervisory platform by reason device, realizes unified management of the remote supervisory platform to monitoring equipment,
And remote supervisory to unmanned plane may be implemented.Further, in the present embodiment, in order to reinforce unmanned plane supervision information peace
Full guard, optionally, in the management frame that unmanned plane is sent, the supervision information of unmanned plane can be carried out using preset encryption rule
Encryption, then after monitoring equipment gets the supervision information of unmanned plane, it, can profit if detection supervision information is encryption information
With preset decryption rule (preset decryption rule can be configured according to the supervision preset encryption rule of information) to supervision
Information is decrypted, and the supervision information after decryption is sent to remote supervisory platform.
It is understood that being referred to believe with supervision for the preset decryption rule of supervision information in the present embodiment
The corresponding prior art of preset encryption rule is ceased, details are not described herein again.
Above in the embodiment of the present invention unmanned aerial vehicle (UAV) control method and unmanned plane monitoring and managing method be described, below
From the angles of hardware handles in the embodiment of the present invention control device and monitoring equipment be described respectively, please refer to figure
16, control device one embodiment in the embodiment of the present invention includes：
(wherein, the quantity of processor 1602 can be one or more, with one in Figure 16 for transmitter 1601 and processor 1602
For a processor 1602).
Wherein, processor 1602, the supervision information for obtaining unmanned plane, and supervision information is inserted into management frame；
Transmitter 1601, for sending management in the working channel of the communication network between unmanned plane and control terminal
Frame.
Optionally, in some embodiments of the invention, transmitter 1601 can also be further used for：
Management frame is periodically sent in the working channel of communication network between unmanned plane and control terminal.
Optionally, in some embodiments of the invention, transmitter 1601 can also be further used for：
Management frame is sent in the working channel of communication network between unmanned plane and control terminal, in response to receiving
Slave monitoring equipment send supervision claim frame.
Optionally, in some embodiments of the invention, processor 1602 can also be further used for：
The specific fields in information insertion management frame will be supervised.
Optionally, in some embodiments of the invention, processor 1602 can also be further used for：
The self-defined part for the specific fields that information is inserted into management frame will be supervised.
Optionally, in some embodiments of the invention, processor 1602 can also be further used for：
Supervision information is split into the supervision information segment of predetermined number；
A supervision information segment in the supervision information segment of predetermined number is inserted into the specific fields in management frame.
Optionally, in some embodiments of the invention, processor 1602 can also be further used for：
Determine the sequence number of each in the supervision information segment of predetermined number；
A supervision information segment in the supervision information segment of predetermined number is corresponding with a supervision information segment
Sequence number is inserted into the specific fields in management frame.
Optionally, in some embodiments of the invention, transmitter 1601 can also be further used for：
In working channel management frame is sent using the downlink data of unmanned plane.
Optionally, in some embodiments of the invention, processor 1602 can also be further used for：
The supervision information that the upstream data in working channel using unmanned plane is sent is obtained, and information insertion tube will be supervised
Manage frame；
Transmitter 1601 can also be further used for：
In working channel management frame is sent using the downlink data of unmanned plane.
Optionally, in some embodiments of the invention, processor 1602 can also be further used for：
Supervision information is encrypted according to preset encryption rule, preset encryption rule is the monitoring equipment of unmanned plane
Known encryption rule；
Encrypted supervision information is inserted into management frame.
Optionally, in some embodiments of the invention, processor 1602 can also be further used for：
Obtain the work of each working channel in multiple working channels of the communication network between unmanned plane and control terminal
Make state；
The working channel of a transmission management frame is selected according to working condition；
Transmitter 1601 can also be further used for：
Management frame is sent in the working channel chosen.
In the present embodiment, processor 1602 obtain unmanned plane supervision information, and will supervision information be inserted into management frame after,
Management frame can be sent in working channel by communication network of the transmitter 1601 between unmanned plane and control terminal, so that
Monitoring equipment can be between unmanned plane and control terminal communication network working channel in scan and obtain management frame, to
The supervision information of unmanned plane can be obtained by not needing password, be conducive to the individual privacy for protecting unmanned plane user, and realization pair
The supervision of unmanned plane.
The embodiment of the present invention also provides a kind of unmanned plane, and wherein unmanned plane includes：
Dynamical system, for providing flying power for unmanned plane；
Control device any one of as described above.
Specifically, the dynamical system of unmanned plane may include：The mechanical, electrical tune of electricity, propeller etc., wherein unmanned plane can also wrap
Include payload, such as imaging device, infrared thermoviewer, wherein payload can be connect by load-bearing part with unmanned plane,
Wherein load-bearing part can be holder.
7 are please referred to Fig.1, monitoring equipment one embodiment in the embodiment of the present invention includes：
(wherein, the quantity of processor 1702 can be one or more, with one in Figure 17 for detector 1701 and processor 1702
For a processor 1702).
Wherein, detector 1701, the working channel for scanning the communication network between unmanned plane and control terminal, to obtain
The management frame for taking unmanned plane to send, wherein management frame includes the supervision information of unmanned plane；
Processor 1702, the supervision information for obtaining the unmanned plane in management frame.
Optionally, in some embodiments of the invention, detector 1701 can also be further used for：
Obtain the management frame of unmanned plane periodicity sending.
Optionally, in some embodiments of the invention, monitoring equipment can also include transmitter 1703, such as Figure 18 institutes
Show, transmitter 1703 can be used for：
Send the supervision claim frame for unmanned plane；
Detector 1701 can also be further used for：
After unmanned plane receives supervision claim frame, the pipe responded to probe request sent from unmanned plane is obtained
Manage frame.
Optionally, in some embodiments of the invention, detector 1701 can also be further used for：
Scan multiple working channels of the cordless communication network between unmanned plane and control terminal.
Optionally, in some embodiments of the invention, the number of detector 1701 is one, a detector 1701,
It can also be further used for：
Take turns multiple working channels of the cordless communication network between scan flow unmanned plane and control terminal.
Optionally, in some embodiments of the invention, the number of detector 1701 is multiple, and processor 1702 may be used also
To be further used for：
Multiple working channels are distributed into multiple detectors；
Each detector 1701 in the multiple detector 1701, can also be further used for：
Scan the working channel of predetermined number.
Optionally, in some embodiments of the invention, detector 1701 can also be further used for：
It obtains and presets the management frame that the unmanned plane of frame number is sent；
Processor 1702 can also be further used for：
One or more supervision information segments are obtained from each frame in the management frame of default frame number, by the supervision of acquisition
Information segment combines to obtain supervision information according to preset mode.
Optionally, in some embodiments of the invention, processor 1702 can also be further used for：
The supervision information of unmanned plane is obtained from the specific fields in management frame.
Optionally, in some embodiments of the invention, processor 1702 can also be further used for：
The supervision information of unmanned plane is obtained from the self-defined part of the specific fields in management frame.
Optionally, in some embodiments of the invention, monitoring equipment can also include display 1704, such as Figure 19 institutes
Show, display 1704, display 1704 can be used for：
Display supervision information.
Optionally, in some embodiments of the invention, processor 1702 can also be further used for：
Supervision information is sent to remote supervisory platform.
Optionally, in some embodiments of the invention, processor 1702 can also be further used for：
Supervision information is decrypted according to preset decryption rule, the supervision information after decryption is sent to remote supervisory
Platform.
Optionally, in some embodiments of the invention, processor 1702 can also be further used for：
The harmful grade of unmanned plane is determined according to the supervision information of acquisition.
In the present embodiment, the detector 1701 in monitoring equipment is by scanning the communication network between unmanned plane and control terminal
The working channel of network, can obtain the management frame of unmanned plane transmission, and processor 1702 then can be obtained further in management frame
The supervision information of unmanned plane, it follows that monitoring equipment need not obtain the supervision information that password can determine unmanned plane, with to the greatest extent
The individual privacy of unmanned plane user is possibly protected, and realizes the supervision to unmanned plane.
It is appreciated that the present invention can also relate to a kind of supervisory systems, including unmanned plane, the control end with UAV Communication
The monitoring equipment of end and supervision unmanned plane can also include optionally the remote supervisory platform communicated with monitoring equipment.Its
In, control terminal can be used for sending control instruction to unmanned plane, and unmanned plane can be controlled according to the control instruction received to fly
Row, monitoring equipment can be used for obtaining the communication data between unmanned plane and control terminal, to realize the supervision to unmanned plane, far
Journey supervising platform then can be used for managing one or more monitoring equipments, and remote supervisory one or more unmanned plane.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of division of logic function, formula that in actual implementation, there may be another division manner, such as multiple units or component
It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be the indirect coupling by some interfaces, device or unit
It closes or communicates to connect, can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, you can be located at a place, or may be distributed over multiple
In network element.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
It is that each unit physically exists alone, it can also be during two or more units be integrated in one unit.Above-mentioned integrated list
The form that hardware had both may be used in member is realized, can also be realized in the form of SFU software functional unit.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can be stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or the network equipment etc.) executes the complete of each embodiment the method for the present invention
Portion or part steps.And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, RandomAccessMemory), magnetic disc or CD etc. are various can store program
The medium of code.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to before
Stating embodiment, invention is explained in detail, it will be understood by those of ordinary skill in the art that：It still can be to preceding
The technical solution recorded in each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
Modification or replacement, the spirit and scope for various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution.
Claims (87)
1. a kind of unmanned aerial vehicle (UAV) control method, which is characterized in that including：
The supervision information of unmanned plane is obtained, and the supervision information is inserted into management frame；
The management frame is sent in working channel using communication network of the transmitter between the unmanned plane and control terminal.
2. according to the method described in claim 1, it is characterized in that, the communication network between the unmanned plane and control terminal is
WI-FI network.
3. according to the method described in claim 1, it is characterized in that, communication network between the unmanned plane and control terminal
Communication protocol is 802.11 wireless protocols.
4. according to the method in any one of claims 1 to 3, which is characterized in that it is described using transmitter it is described nobody
The management frame is sent in the working channel of communication network between machine and control terminal includes：
Using periodically sending institute in the working channel of communication network of the transmitter between the unmanned plane and control terminal
State management frame.
5. method according to claim 1 to 4, which is characterized in that the management frame includes broadcast frame.
6. according to the method described in claim 5, it is characterized in that, the broadcast frame includes beacon frames, Probe
Request。
7. according to the method in any one of claims 1 to 3, which is characterized in that it is described using transmitter it is described nobody
The management frame is sent in the working channel of communication network between machine and control terminal includes：
The management frame is sent in working channel using communication network of the transmitter between the unmanned plane and control terminal,
With the supervision claim frame sent in response to the slave monitoring equipment received.
8. the method according to the description of claim 7 is characterized in that the management frame is unicast frame.
9. according to the method described in claim 8, it is characterized in that, the unicast frame includes Probe Response；
The supervision claim frame includes Probe Request.
10. method according to any one of claim 1 to 9, which is characterized in that described by the supervision information insertion tube
Managing frame includes：
The supervision information is inserted into the specific fields in management frame.
11. according to the method described in claim 10, it is characterized in that, described be inserted into the spy in management frame by the supervision information
Determining field includes：
The supervision information is inserted into the self-defined part of the specific fields in management frame.
12. the method according to claim 10 or 11, which is characterized in that the method further includes：
The supervision information is split into the supervision information segment of predetermined number using processor；
It is described by it is described supervision information be inserted into management frame in specific fields include：
At least one of supervision information segment by predetermined number supervision information segment is inserted into the specific word in management frame
Section.
13. according to the method for claim 12, which is characterized in that the method further includes,
The sequence number of each in the supervision information segment of predetermined number is determined using the processor；
It is described that at least one of the supervision information segment of predetermined number supervision information segment is inserted into the spy in management frame
Determining field includes：
At least one of supervision information segment by the predetermined number is supervised information segment and is believed at least one supervision
Cease the specific fields that the corresponding sequence number of segment is inserted into management frame.
14. method according to any one of claim 1 to 13, which is characterized in that described to utilize transmitter in the nothing
Sending the management frame in the working channel of the man-machine communication network between control terminal includes：
Using transmitter the management frame is sent using the downlink data of the unmanned plane in the working channel.
15. according to the method for claim 14, which is characterized in that the transmitter and/or processor configuration are in institute
It states on unmanned plane.
16. method according to any one of claim 1 to 13, which is characterized in that the supervision letter for obtaining unmanned plane
Breath, and include by supervision information insertion management frame：
The supervision information that the upstream data in the working channel using the unmanned plane is sent is obtained, and the supervision is believed
Breath is inserted into management frame；
The pipe is sent in the working channel of the communication network using transmitter between the unmanned plane and control terminal
Managing frame includes：
Using transmitter the management frame is sent using the downlink data of the unmanned plane in the working channel.
17. according to claim 1 to 16 any one of them method, which is characterized in that the method further includes：
The supervision information is encrypted according to preset encryption rule using processor, the preset encryption rule is institute
State encryption rule known to the monitoring equipment of unmanned plane；
It is described to include by supervision information insertion management frame：
The encrypted supervision information is inserted into management frame.
18. the method according to any one of claim 1 to 17, which is characterized in that described to utilize transmitter in the nothing
Sending the management frame in the working channel of the man-machine communication network between control terminal includes：
Each work in multiple working channels of the communication network between the unmanned plane and control terminal is obtained using processor
Make the working condition of channel；
One working channel for sending the management frame is selected according to the working condition using the processor；
The management frame is sent in the working channel chosen using transmitter.
19. according to the method for claim 18, which is characterized in that it is current that the working condition includes at least working channel
Bandwidth.
20. the method according to any one of claim 1 to 19, which is characterized in that the supervision information includes the nothing
Man-machine identity information, location information, flight parameter information, flight attitude information, owner information, time buying information, purchase
Buy the position letter of location information, history flight path information, hardware configuration information, check bit information and the control terminal
It is one or more in breath.
21. according to the method for claim 20, which is characterized in that the identity information includes manufacturer's identifier and the nothing
Man-machine type；
Position letter when the location information of the unmanned plane includes the current location information of the unmanned plane, the unmanned plane takes off
At least one of breath；
The flight parameter information includes at least one of flight maximum speed, flight maximum height and current flight speed；
The flight attitude information includes at least one of roll angle, pitch angle and yaw angle；
The hardware configuration information includes at least the configuration information of the payload of the unmanned plane；
The check bit information is cyclic redundancy cyclic redundancy check；
The location information of the control terminal includes the location information when unmanned plane takes off, the positioning in the control terminal
At least one of the location information of equipment output.
22. a kind of unmanned plane monitoring and managing method, which is characterized in that including：
Utilize the working channel of the communication network between detector scanning unmanned plane and control terminal；
The management frame that the unmanned plane is sent is obtained using the detector, wherein the management frame includes the unmanned plane
Supervision information；
The supervision information of the unmanned plane in the management frame is obtained using processor.
23. according to the method for claim 22, which is characterized in that the communication network between the unmanned plane and control terminal
For WI-FI network.
24. according to the method for claim 22, which is characterized in that the communication network between the unmanned plane and control terminal
Communication protocol be 802.11 agreements.
25. the method according to any one of claim 22 to 24, which is characterized in that described to be obtained using the detector
The management frame that the unmanned plane is sent includes：
The management frame of the unmanned plane periodicity sending is obtained using the detector.
26. the method according to any one of claim 22 to 24, which is characterized in that the management frame is broadcast frame.
27. according to the method for claim 26, which is characterized in that the broadcast frame includes beacon, Probe
Request。
28. the method according to any one of claim 22 to 24, which is characterized in that obtaining institute using the detector
Before the management frame for stating unmanned plane transmission, the method further includes：
The supervision claim frame of the unmanned plane is directed to using transmitter broadcast transmission；
It is described to obtain the management frame that the unmanned plane is sent using the detector and include：
After the unmanned plane receives the supervision claim frame, is received and obtained from unmanned plane transmission using the detector
The management frame that the probe request is responded.
29. according to the method for claim 28, which is characterized in that the management frame is unicast frame.
30. according to the method for claim 29, which is characterized in that the unicast frame includes Probe Response；
The supervision claim frame includes Probe Request.
31. the method according to any one of claim 22 to 30, which is characterized in that described to utilize the detector scanning
The working channel of cordless communication network between the unmanned plane and control terminal includes：
Utilize multiple working channels of the cordless communication network between the detector scanning unmanned plane and control terminal.
32. according to the method for claim 31, which is characterized in that the number of the detector is one, described to utilize institute
The multiple working channels for stating the cordless communication network between unmanned plane and control terminal described in detector scanning include：
Utilize multiple works of the cordless communication network described in a detector wheel scan flow between unmanned plane and control terminal
Make channel.
33. according to the method for claim 31, which is characterized in that the number of the detector be it is multiple, it is described utilize institute
The multiple working channels for stating the cordless communication network between unmanned plane and control terminal described in detector scanning include：
The multiple working channel is distributed into multiple detectors, default of each scanning in multiple detectors
Several working channels.
34. the method according to any one of claim 22 to 33, which is characterized in that described to be obtained using the detector
Unmanned plane send management frame include：
It is obtained using detector and presets the management frame that the unmanned plane of frame number is sent；
The supervision information of the unmanned plane obtained using processor in the management frame includes：
One or more supervision information segments are obtained from each frame in the management frame of the default frame number using processor, it will
The supervision information segment of the acquisition combines to obtain the supervision information according to preset mode.
35. the method according to any one of claim 22 to 34, which is characterized in that described using described in processor acquisition
The supervision information of the unmanned plane in management frame includes：
The supervision information of the unmanned plane is obtained from the specific fields in the management frame using processor.
36. according to the method for claim 35, which is characterized in that it is described using processor from specific in the management frame
The supervision information that the unmanned plane is obtained in field includes：
The supervision of the unmanned plane is obtained from the self-defined part of the specific fields in the management frame using processor
Information.
37. the method according to any one of claim 22 to 36, which is characterized in that the method further includes：
The supervision information is shown using interactive interface
38. the method according to any one of claim 22 to 37, which is characterized in that the method further includes：
The supervision information is sent to remote supervisory platform using processor.
39. according to the method for claim 38, which is characterized in that described to be sent to the supervision information using processor
Remote supervisory platform includes：
Supervision information is decrypted according to preset decryption rule using processor, the supervision information after decryption is sent to far
Journey supervising platform.
40. according to the method for claim 39, which is characterized in that the method further includes：
The harmful grade of the unmanned plane is determined according to the supervision information of acquisition using the processor.
41. the method according to any one of claim 22 to 40, which is characterized in that the detector is multiple detections
Device, and each in multiple detectors configures in different regions.
42. according to claim 22 to 41 any one of them method, which is characterized in that the supervision information include it is described nobody
The identity information of machine, location information, flight parameter information, flight attitude information, owner information, time buying information, purchase
The location information of location information, history flight path information, hardware configuration information, check bit information and the control terminal
In it is one or more.
43. according to the method for claim 42, which is characterized in that the identity information includes manufacturer's identifier and/or nothing
Man-machine type；
The location information include in location information when the current location information of the unmanned plane, the unmanned plane take off extremely
Few one kind；
The flight parameter information includes at least one of flight maximum speed, flight maximum height and current flight speed；
The flight attitude information includes at least one of roll angle, pitch angle and yaw angle；
The hardware configuration information includes at least the configuration information of the payload of the unmanned plane；
The check bit information is cyclic redundancy cyclic redundancy check；
The location information of the control terminal includes the location information when unmanned plane takes off, the positioning in the control terminal
At least one of the location information of equipment output.
44. a kind of control device, which is characterized in that including：
Processor, the supervision information for obtaining unmanned plane, and the supervision information is inserted into management frame；
Transmitter sends the management in the working channel for the communication network between the unmanned plane and control terminal
Frame.
45. control device according to claim 44, which is characterized in that the communication between the unmanned plane and control terminal
Network is WI-FI network.
46. control device according to claim 44, which is characterized in that the communication between the unmanned plane and control terminal
The communication protocol of network is 802.11 wireless protocols.
47. the control device according to any one of claim 44 to 46, which is characterized in that the transmitter is additionally operable to：
The management frame is periodically sent in the working channel of communication network between the unmanned plane and control terminal.
48. the control device according to any one of claim 44 to 46, which is characterized in that the management frame includes broadcast
Frame.
49. control device according to claim 48, which is characterized in that the broadcast frame includes beacon frames, Probe
Request。
50. the control device according to any one of claim 44 to 46, which is characterized in that the transmitter is additionally operable to：
The management frame is sent in the working channel of communication network between the unmanned plane and control terminal, in response to connecing
The supervision claim frame that the slave monitoring equipment received is sent.
51. control device according to claim 50, which is characterized in that the management frame is unicast frame.
52. control device according to claim 51, which is characterized in that the unicast frame includes Probe Response；
The supervision claim frame includes Probe Request.
53. the control device according to any one of claim 44 to 52, which is characterized in that the processor is additionally operable to：
The supervision information is inserted into the specific fields in management frame.
54. control device according to claim 53, which is characterized in that the processor is additionally operable to：
The supervision information is inserted into the self-defined part of the specific fields in management frame.
55. the control device according to claim 53 or 54, which is characterized in that the processor is additionally operable to：
The supervision information is split into the supervision information segment of predetermined number；
A supervision information segment in the supervision information segment of the predetermined number is inserted into the specific fields in management frame.
56. control device according to claim 55, which is characterized in that the processor is additionally operable to：
Determine the sequence number of each in the supervision information segment of predetermined number；
One in the supervision information segment of the predetermined number is supervised into information segment and one supervision information segment pair
The sequence number answered is inserted into the specific fields in management frame.
57. the control device according to any one of claim 44 to 56, which is characterized in that the transmitter is additionally operable to：
In the working channel management frame is sent using the downlink data of the unmanned plane.
58. control device according to claim 57, which is characterized in that the transmitter and/or processor configuration
On the unmanned plane.
59. the control device according to any one of claim 44 to 56, which is characterized in that the processor is additionally operable to：
The supervision information that the upstream data in the working channel using the unmanned plane is sent is obtained, and the supervision is believed
Breath is inserted into management frame；
The transmitter, is additionally operable to：
In the working channel management frame is sent using the downlink data of the unmanned plane.
60. being controlled according to claim 44 to 59 any one of them, which is characterized in that the processor is additionally operable to：
The supervision information is encrypted according to preset encryption rule, the preset encryption rule is the unmanned plane
Encryption rule known to monitoring equipment；
The encrypted supervision information is inserted into management frame.
61. the control device according to any one of claim 44 to 60, which is characterized in that the processor is additionally operable to：
Obtain the work of each working channel in multiple working channels of the communication network between the unmanned plane and control terminal
Make state；
A working channel for sending the management frame is selected according to the working condition；
The transmitter, is additionally operable to：
The management frame is sent in the working channel chosen.
62. control device according to claim 61, which is characterized in that the working condition is worked as including at least working channel
Preceding bandwidth.
63. the control device according to any one of claim 44 to 62, which is characterized in that the supervision information includes institute
State identity information, location information, flight parameter information, flight attitude information, owner information, the time buying letter of unmanned plane
The position of breath, purchase location information, history flight path information, hardware configuration information, check bit information and the control terminal
It is one or more in confidence breath.
64. control device according to claim 63, which is characterized in that the identity information includes manufacturer's identifier and institute
State the type of unmanned plane；
Position letter when the location information of the unmanned plane includes the current location information of the unmanned plane, the unmanned plane takes off
At least one of breath；
The flight parameter information includes at least one of flight maximum speed, flight maximum height and current flight speed；
The flight attitude information includes at least one of roll angle, pitch angle and yaw angle；
The hardware configuration information includes at least the configuration information of the payload of the unmanned plane；
The check bit information is cyclic redundancy cyclic redundancy check；
The location information of the control terminal includes the location information when unmanned plane takes off, the positioning in the control terminal
At least one of the location information of equipment output.
65. a kind of monitoring equipment, which is characterized in that including：
Detector, the working channel for scanning the communication network between unmanned plane and control terminal, to obtain the unmanned plane
The management frame of transmission, wherein the management frame includes the supervision information of the unmanned plane；
Processor, the supervision information for obtaining the unmanned plane in the management frame.
66. monitoring equipment according to claim 65, which is characterized in that the communication between the unmanned plane and control terminal
Network is WI-FI network.
67. monitoring equipment according to claim 65, which is characterized in that the communication between the unmanned plane and control terminal
The communication protocol of network is 802.11 agreements.
68. the monitoring equipment according to any one of claim 65 to 67, which is characterized in that the detector is additionally operable to：
Obtain the management frame of the unmanned plane periodicity sending.
69. the monitoring equipment according to any one of claim 65 to 68, which is characterized in that the management frame is broadcast
Frame.
70. monitoring equipment according to claim 69, which is characterized in that the broadcast frame includes beacon, Probe
Request。
71. the monitoring equipment according to any one of claim 65 to 67, which is characterized in that the monitoring equipment further includes
Transmitter, the transmitter, is used for：
Send the supervision claim frame for the unmanned plane；
The detector, is additionally operable to：
After the unmanned plane receives the supervision claim frame, obtain sent from the unmanned plane to the probe request
The management frame responded.
72. monitoring equipment according to claim 71, which is characterized in that the management frame is unicast frame.
73. according to the monitoring equipment described in claim 72, which is characterized in that the unicast frame includes Probe Response；
The supervision claim frame includes Probe Request.
74. the monitoring equipment according to any one of claim 65 to 73, which is characterized in that the detector is additionally operable to：
Scan multiple working channels of the cordless communication network between unmanned plane and control terminal.
75. monitoring equipment according to claim 74, which is characterized in that the number of the detector is one, an institute
Detector is stated, is additionally operable to：
Take turns multiple working channels of the cordless communication network described in scan flow between unmanned plane and control terminal.
76. monitoring equipment according to claim 74, which is characterized in that the number of the detector is multiple, and institute is everywhere
Device is managed, is additionally operable to：
The multiple working channel is distributed into multiple detectors；
Each described detector in multiple detectors, is additionally operable to：
Scan the working channel of predetermined number.
77. the monitoring equipment according to any one of claim 65 to 76, which is characterized in that the detector is additionally operable to：
It obtains and presets the management frame that the unmanned plane of frame number is sent；
The processor, is additionally operable to：
One or more supervision information segments are obtained from each frame in the management frame of the default frame number, by the acquisition
Supervision information segment combines to obtain the supervision information according to preset mode.
78. the monitoring equipment according to any one of claim 65 to 77, which is characterized in that the processor is additionally operable to：
The supervision information of the unmanned plane is obtained from the specific fields in the management frame.
79. according to the monitoring equipment described in claim 78, which is characterized in that the processor is additionally operable to：
The supervision information of the unmanned plane is obtained from the self-defined part of the specific fields in the management frame.
80. the monitoring equipment according to any one of claim 65 to 79, which is characterized in that the monitoring equipment further includes
Display, the display, is used for：
Show the supervision information
81. the monitoring equipment according to any one of claim 65 to 80, which is characterized in that the processor is additionally operable to：
The supervision information is sent to remote supervisory platform.
82. according to the monitoring equipment described in claim 81, which is characterized in that the processor is additionally operable to：
Supervision information is decrypted according to preset decryption rule, the supervision information after decryption, which is sent to remote supervisory, puts down
Platform.
83. according to the monitoring equipment described in claim 82, which is characterized in that the processor is additionally operable to：
The harmful grade of the unmanned plane is determined according to the supervision information of acquisition.
84. the monitoring equipment according to any one of claim 65 to 83, which is characterized in that the detector is multiple spies
Device is surveyed, and each in multiple detectors configures in different regions.
85. according to claim 65 to 84 any one of them monitoring equipment, which is characterized in that the supervision information includes described
The identity information of unmanned plane, location information, flight parameter information, flight attitude information, owner information, time buying information,
The position of purchase location information, history flight path information, hardware configuration information, check bit information and the control terminal
It is one or more in information.
86. according to the monitoring equipment described in claim 85, which is characterized in that the identity information include manufacturer's identifier and/
Or the type of unmanned plane；
The location information include in location information when the current location information of the unmanned plane, the unmanned plane take off extremely
Few one kind；
The flight parameter information includes at least one of flight maximum speed, flight maximum height and current flight speed；
The flight attitude information includes at least one of roll angle, pitch angle and yaw angle；
The hardware configuration information includes at least the configuration information of the payload of the unmanned plane；
The check bit information is cyclic redundancy cyclic redundancy check；
The location information of the control terminal includes the location information when unmanned plane takes off, the positioning in the control terminal
At least one of the location information of equipment output.
87. a kind of unmanned plane, it is characterised in that it includes：
Dynamical system, for providing flying power for unmanned plane；
Control device as described in any one of claim 44 to 64.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/077529 WO2018170735A1 (en) | 2017-03-21 | 2017-03-21 | Unmanned aerial vehicle control method and control device, and unmanned aerial vehicle supervision method and supervision device |
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| Publication Number | Publication Date |
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| CN108513696A true CN108513696A (en) | 2018-09-07 |
| CN108513696B CN108513696B (en) | 2021-09-28 |
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| CN108513696B (en) | 2021-09-28 |
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