CN108541357A - A kind of information processing method, unmanned plane and computer readable storage medium - Google Patents
A kind of information processing method, unmanned plane and computer readable storage medium Download PDFInfo
- Publication number
- CN108541357A CN108541357A CN201780005162.6A CN201780005162A CN108541357A CN 108541357 A CN108541357 A CN 108541357A CN 201780005162 A CN201780005162 A CN 201780005162A CN 108541357 A CN108541357 A CN 108541357A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- ground installation
- signal
- distance
- control instruction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B17/00—Monitoring; Testing
- H04B17/30—Monitoring; Testing of propagation channels
- H04B17/309—Measuring or estimating channel quality parameters
- H04B17/364—Delay profiles
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Astronomy & Astrophysics (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Quality & Reliability (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Traffic Control Systems (AREA)
Abstract
A kind of information processing method, unmanned plane and computer readable storage medium, the signal transmission time obtained between unmanned plane and ground installation first is poor (S101), it is poor according to the signal transmission time again, obtain the flying distance (S102) between the unmanned plane and the ground installation, since ground installation is compared at a distance from unmanned plane, far smaller than the distance between unmanned plane and satellite, therefore, the signal of ground installation is not easy disturbed or shields, therefore, it is poor based on the signal transmission time between ground installation and unmanned plane, more flying distance can be obtained precisely and readily.
Description
Technical field
This application involves air vehicle technique field, it is more particularly to information processing method, unmanned plane and computer-readable deposits
Storage media.
Background technology
Recent years, unmanned plane was using more and more extensive, while bringing new experience to consumers in general, unmanned plane
Also some potential risks, including unmanned plane invasion of privacy are brought to society, with swarming into national military secrecy, endangers passenger plane peace
Congruence etc..Therefore, it is necessary to the flight ranges to unmanned plane to limit.
The key of the limitation of unmanned plane during flying range is to limit the flying distance of unmanned plane, and unmanned plane during flying distance
It calculates, is the emphasis of those skilled in the art's research.
Invention content
In view of this, the present invention provides a kind of information processing method, unmanned plane and computer readable storage medium, with gram
The problem of flying distance of clothes unmanned plane in the prior art is difficult to obtain.
To achieve the above object, the present invention provides the following technical solutions：
A kind of information processing method is applied to unmanned plane, including：
The signal transmission time obtained between the unmanned plane and ground installation is poor；
It is poor according to the signal transmission time, obtain the flying distance between the unmanned plane and the ground installation.
A kind of unmanned plane, including：
First acquisition module, it is poor for obtaining the signal transmission time between the unmanned plane and ground installation；
Second acquisition module, it is poor according to the signal transmission time to be used for, and obtains the unmanned plane and the ground installation
Between flying distance.
A kind of unmanned plane, including：
Memory, for storing program；
Processor, for executing described program, described program is specifically used for：
The signal transmission time obtained between the unmanned plane and ground installation is poor；
It is poor according to the signal transmission time, obtain the flying distance between the unmanned plane and the ground installation.
A kind of computer readable storage medium, is stored thereon with computer program, and the computer program is held by processor
Following steps are realized when row：
The signal transmission time obtained between the unmanned plane and ground installation is poor；
It is poor according to the signal transmission time, obtain the flying distance between the unmanned plane and the ground installation.
It can be seen via above technical scheme that compared with prior art, an embodiment of the present invention provides a kind of information processings
Method, the signal transmission time obtained between unmanned plane and ground installation first is poor then poor according to the signal transmission time, obtains
The flying distance between the unmanned plane and the ground installation is obtained, since ground installation is compared at a distance from unmanned plane, much
Less than the distance between unmanned plane and satellite, therefore, the signal of ground installation is not easy disturbed or shields, and therefore, is based on ground
Signal transmission time between equipment and unmanned plane is poor, more can obtain precisely and readily flying distance.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of flow chart of information processing method provided by the embodiments of the present application；
The schematic diagram of Δ t during Fig. 2 is communicated between unmanned plane and ground installation using time division duplex；
The schematic diagram of Δ t during Fig. 3 is communicated between unmanned plane and ground installation using frequency division duplex；
Fig. 4 is a kind of signaling of realization method of the computational methods of signal transmission time provided by the embodiments of the present application difference
Figure；
Fig. 5 is a kind of signaling of realization method of the computational methods of signal transmission time provided by the embodiments of the present application difference
Figure；
Fig. 6 is a kind of schematic diagram for realization method that limit provided by the embodiments of the present application flies strategy；
Fig. 7 is the structure chart of unmanned plane provided by the embodiments of the present application；
Fig. 8 is the internal structure chart of unmanned plane provided by the embodiments of the present application.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
If unmanned plane by flight restriction, can not access military area and airport, swarm into private manor, cause military affairs
Secret leakage or the leakage of personal information, it is also possible to endanger passenger plane safety.Currently, unmanned plane connects dependent on the satellite positioning of itself
Whether receipts machine determines itself in military area, airport, private manor.Specifically, the satellite positioning receiver in unmanned plane can
To obtain the positioning signal that each satellite is sent to unmanned plane, satellite positioning receiver can be sent to unmanned plane according to each satellite
Positioning signal, obtain the signal transmission time that positioning signal is sent to unmanned plane by each satellite；Satellite positioning receiver foundation
Each corresponding signal transmission time of satellite obtains the distance between each satellite and unmanned plane, according between each satellite and unmanned plane
Distance further calculates out the position where oneself.
The positioning signal of satellite is from during satellite is transmitted to unmanned plane, due to apart from remote, the signal of satellite-signal
Intensity substantially decays, and in positioning signal transmission process, once there are nature or thinking to interfere or shield, unmanned plane then can not be right
Oneself is positioned.
Compared with positioning signal is easy to be interfered or shield, the communication link between unmanned plane and ground installation is wanted can
It leans on, is healthy and strong more.
Therefore, the embodiment of the present application provides a kind of information processing method, as shown in Figure 1, being provided for the embodiment of the present application
A kind of information processing method flow chart, which includes：
Step S101：The signal transmission time obtained between the unmanned plane and ground installation is poor.
Normal two-way communication can be carried out between unmanned plane and ground installation；It is double that the time-division may be used in unmanned plane and ground installation
The mode of work TDD carries out two-way communication, and two-way communication can also be carried out by the way of Frequency Division Duplex FDD.
According to Time Division Duplex TDD, then needs to form carrier frequency synchronization between unmanned plane and ground installation and timing is same
Step；Assuming that earthward equipment (or unmanned plane) sends signal sequence S to unmanned plane (or ground installation) firsti(i=0,1,2 ...)；
Ground installation (or unmanned plane) is to receive signal sequence SiAt the time of be initial time, postpone time Δt after, to unmanned plane
(or ground installation) feedback signal sequence Ri(i=0,1,2 ...), since ground installation (or unmanned plane) needs to receive signal completely
Sequence SiIt afterwards just can be to unmanned plane (or ground installation) feedback signal sequence Ri, therefore, Δ t is greater than or equal to signal sequence Si's
Duration.As shown in Fig. 2, Δ t shows during being communicated using time division duplex between unmanned plane and ground installation
It is intended to.
It is assumed that earthward equipment sends signal sequence S to A equipment firsti, B device is to receive signal sequence SiMoment is
Begin the moment, after postponing time Δt, to A equipment feedback signal sequences Ri。
If A equipment is unmanned plane, B device is ground installation；If A equipment is ground installation, B device is unmanned plane.
In some embodiments, A equipment satellite positioning information can be used to measure between B device in normal work
Distance.After satellite positioning information fails, method shown in FIG. 1 can be used to measure the distance between B device for A equipment.If A is set
Standby is unmanned plane, then B device is ground installation；If A equipment is ground installation, B device is unmanned plane.
In other embodiments, A equipment can be measured using method shown in Fig. 1 between B device in normal work
Distance.When the communication between A equipment and B device is broken down, satellite positioning information, measurement and B device can be used in A equipment
The distance between.If A equipment is unmanned plane, B device is ground installation；If A equipment is ground installation, B device is for nobody
Machine.
Pass through the switching between both the above measurement distance method, it is ensured that unmanned plane is after satellite positioning information failure
It is switched in time in method shown in FIG. 1, to ensure to continue to measure the distance between unmanned plane and ground installation.Or scheming
When method shown in 1 fails because of communication failure, be switched in time using satellite positioning information, continue measure unmanned plane with
The distance between ground installation.
In Fig. 2, Tx indicates that transmitting terminal, Rx indicate receiving terminal.Therefore, signal sequence S A equipment sentiReferred to as Si
(Tx), signal sequence S B device receivediReferred to as Si(Rx)；The signal sequence R that B device is fed backiReferred to as Ri(Tx), by A
The signal sequence R that equipment receivesiReferred to as Ri(Rx).In practice, Si(Tx) and Si(Rx) it is same signal sequence；Ri(Tx) with
Ri(Rx) it is same signal sequence.
According to Frequency Division Duplex FDD, then unmanned plane and ground installation is needed to form carrier frequency synchronization.Assuming that unmanned plane
(or ground installation) earthward equipment (or unmanned plane) sends signal sequence S firsti(i=0,1,2 ...)；Ground installation (or nothing
It is man-machine) to receive signal sequence SiAt the time of be initial time, it is anti-to unmanned plane (or ground installation) after postponing time Δt
Feedback signal sequence Ri(i=0,1,2 ...), due to ground installation (or unmanned plane) as long as receiving part signal sequence SiAfterwards, so that it may
With to unmanned plane (or ground installation) feedback signal sequence Ri, therefore, Δ t is without above-mentioned requirements.
As shown in figure 3, between unmanned plane and ground installation using frequency division duplex communicated during Δ t signal
Figure.
It is assumed that earthward equipment sends signal sequence S to A equipment firsti, B device is to receive signal sequence SiMoment is
Begin the moment, after postponing time Δt, to A equipment feedback signal sequences Ri。
If A equipment is unmanned plane, B device is ground installation；If A equipment is ground installation, B device is unmanned plane.
In Fig. 3, Tx indicates that transmitting terminal, Rx indicate receiving terminal.Therefore, signal sequence S A equipment sentiReferred to as Si
(Tx), signal sequence S B device receivediReferred to as Si(Rx)；The signal sequence R that B device is fed backiReferred to as Ri(Tx), by A
The signal sequence R that equipment receivesiReferred to as Ri(Rx).In practice, Si(Tx) and Si(Rx) it is same signal sequence；Ri(Tx) with
Ri(Rx) it is same signal sequence.
Preferably, one group of S in Fig. 2 and Fig. 3i(Tx) and Ri(Tx) it is a cycle, includes in one cycle：A equipment
Send signal sequence Si(Tx)；And A equipment receives B device and is directed to signal sequence Si(Tx) the signal sequence R fed backi(Tx).
In a cycle, signal sequence S is avoided as possiblei+1(Tx) after starting transmission, R is receivedi(Tx), for example, avoiding following situations, A
Equipment has sent S1(Tx), it is receiving and S1(Tx) corresponding R1(Tx) before, A equipment has had sent S2(Tx)。
Wherein, propagation delay time from A equipment shown in Fig. 2 and Fig. 3 to B device and propagation delay time from B device to A equipment it
With for the propagation delay time generated due to the distance between unmanned plane and ground installation.If the distance between A equipment and B device one
It does not change directly, then A equipment should be equal to the propagation delay time of A equipment with B device to the propagation delay time of B device；Due to
Unmanned plane is constantly in state of flight, therefore the distance between unmanned plane and ground installation may all change at the moment.But by
In sending signal sequence S from A equipmenti(Tx) signal sequence R is received to A equipmenti(Rx) time is very short during, therefore, can
It is identical as the propagation delay time of B device to A equipment with the propagation delay time for regarding A equipment to B device as.
Pass through the transmission time of the signal sequence between unmanned plane and ground installation, so that it may to obtain the letter in step S101
Number transmission time difference.
In conjunction with Fig. 2 and Fig. 3 it is found that either that communication mode, in i-th of period, since unmanned plane and ground are set
Propagation delay time T caused by the distance between standbyiCalculation formula can be as follows：
Ti=Ti2-Ti1-Δt
Wherein, TiFor propagation delay time from A equipment to B device and the sum of propagation delay time from B device to A equipment.
Signal transmission time difference in step S101 may include propagation delay time Ti。
The cycle T for obtaining the flying distance between unmanned plane and ground installation is greater than or equal to " A equipment transmission signal sequence
Si(Tx) time is directed to signal sequence S with B device is receivedi(Tx) time difference ".
Preferably, cycle T can meet the following conditions：Wherein, DmaxIndicate unmanned plane and ground
Maximum flying distance between equipment, c are the light velocity.
Step S102：It is poor according to the signal transmission time, it obtains and flies between the unmanned plane and the ground installation
Row distance.
The calculation formula of flying distance D can be as follows：Wherein, c is the light velocity.
Instantaneous physical distance of the flying distance D Approximate Equivalents between unmanned plane and ground installation.
In information processing method provided by the embodiments of the present application, the signal obtained first between unmanned plane and ground installation passes
The defeated time difference, then it is poor according to the signal transmission time, the flying distance between the unmanned plane and the ground installation is obtained,
Since ground installation is compared at a distance from unmanned plane, far smaller than the distance between unmanned plane and satellite, therefore, ground installation
Signal is not easy disturbed or shields, therefore, poor based on the signal transmission time between ground installation and unmanned plane, can be more smart
It is accurate and readily obtain flying distance.
Satellite and unmanned plane can not just interact indoors, can not limit the aircraft range of unmanned plane, and ground
Face equipment is then interference-free.
The method for " it is poor obtaining the signal transmission time between the unmanned plane and ground installation " in the embodiment of the present application has
A variety of, the embodiment of the present application is provided but is not limited to following several：
The first, as shown in figure 4, a kind of reality of the computational methods for signal transmission time provided by the embodiments of the present application difference
The signaling diagram of existing mode, this method include：
Step S401：Earthward equipment 12 sends the first signal (such as signal sequence S to unmanned plane 11i), and record transmission
The first initial time (such as T of first signali1)。
Step S402：As initial time at the time of ground installation 12 is to receive the first signal, postpone predetermined time delay
(such as when Δ t), feed back second signal (such as signal sequence R to unmanned plane 11i)。
Step S403：Unmanned plane 11 receive second signal, and record receive second signal the second initial time (such as
Ti2)。
Step S404：When unmanned plane 11 is according to first initial time, second initial time and pre-set delay
Between, the signal transmission time obtained between the unmanned plane and the ground installation is poor.
Second, as shown in figure 5, a kind of reality of the computational methods for signal transmission time provided by the embodiments of the present application difference
The signaling diagram of existing mode, this method include：
Step S501：Ground installation 12 sends the first signal (such as signal sequence S to unmanned plane 11i), and record transmission
The first initial time (such as T of first signali1)。
Step S502：As initial time at the time of unmanned plane 11 is to receive the first signal, postpone predetermined time delay (example
When such as Δ t), earthward equipment 12 feeds back second signal (such as signal sequence Ri)。
Step S503：Ground installation 12 receive second signal, and record receive second signal the second initial time (such as
Ti2)。
Step S504：Ground installation 12 is according to first initial time, second initial time and pre-set delay
Time, the signal transmission time obtained between the unmanned plane and the ground installation are poor.
Step S505：Ground installation 12 is poor to the transmission signal transmission time of unmanned plane 11.
It is understood that obtaining accurately flying distance is flown to preferably carry out limit to unmanned plane, therefore, one
In preferred embodiment, when the flying distance is greater than or equal to pre-determined distance, the first control instruction, first control are generated
Instruction includes：It is less than the control of the pre-determined distance for controlling the flying distance between the unmanned plane and the ground installation
Instruction, and/or, the control instruction for prompting the flying distance between the shortening unmanned plane and the ground installation.
Wherein, " it is less than the pre-determined distance for controlling the flying distance between the unmanned plane and the ground installation
Control instruction " can be force unmanned plane decline, and/or, reduce the flying speed of unmanned plane, and/or, control unmanned plane return
Boat.
Wherein, " control instruction for prompting the flying distance between the shortening unmanned plane and the ground installation " can
It is immovable to be that control unmanned plane is constantly in current location, that is, it hovers, and/or, warning unmanned plane makes a return voyage.
Can be the one or more warning distances of unmanned plane setting, i.e., pre-determined distance may include one or more warnings away from
From.The flying distance of unmanned plane be greater than or equal to it is each warning apart from when, unmanned plane generate control instruction can be identical, can also
It is different.Each warning distance is illustrated with a specific example below.
As shown in fig. 6, flying a kind of schematic diagram of realization method of strategy for limit provided by the embodiments of the present application.
Wherein, the position where ground installation is centre of sphere O points shown in fig. 6；The plane of shade is horizontal plane.Due to current
It is spherical shape there are low garage, basement, low market, therefore Fig. 6.Assuming that pre-set the first pre-determined distance (first set away from
From the radius D that can be ball 1 in Fig. 6warning), if flying distance between unmanned plane and ground installation be less than first it is default away from
From (for example, unmanned plane is in location A), then unmanned plane can fly in any position in ball 1；If unmanned plane and ground installation it
Between flying distance be greater than or equal to the first pre-determined distance (for example, the B location of unmanned plane in figure 6), carried at this point it is possible to generate
Show the control instruction for shortening the flying distance between the unmanned plane and the ground installation, such as alert and make a return voyage immediately, otherwise
Unmanned plane may occur to force the control instruction of landing.
If the user of unmanned plane does not respond the warning, still continue to fly, when the flying distance of unmanned plane is more than or waits
In the second pre-determined distance, (the second pre-determined distance can be the radius D of ball 2 in Fig. 6restrict), it is assumed that unmanned plane reaches location of C,
Then generate the control for being less than second pre-determined distance for controlling the flying distance between the unmanned plane and the ground installation
System instruction, such as unmanned plane is forced to land, alternatively, can be moved horizontally without unmanned plane but unmanned plane cannot be increased；Or, control
The speed of unmanned plane processed declines.
If the flying distance of unmanned plane is less than the second pre-determined distance, user can restore the control to unmanned plane.
Concrete outcome can be as follows：
As flying distance Di＜ Dwarning, flight restriction is not done to unmanned plane, such as the state A in Fig. 6；
Work as Dwarning≤Di≤Drestrict, warning user is immediately controlled unmanned plane and makes a return voyage, and otherwise unmanned plane at any time may hair
It is raw to force landing, such as the state B in Fig. 6；
Work as Drestrict≤Di, force unmanned plane to decline, such as the state C in Fig. 6；Period user can with horizontal displacement nobody
Machine, can improve either reduces decrease speed but can not cancel aircraft and decline or increase aircraft.
If unmanned plane meets D during decliningi＜ Dwarning, then restore control of the user to unmanned plane, in Fig. 6
State D.If during declining, unmanned plane landing, it is preferred that unmanned plane will be unable to take off again, such as the state E in Fig. 6.
In Fig. 6, unmanned plane is moved to B location by location A, and is moved to location of C from B location, then is forced to land from location of C
To the positions D；Or directly the ground positions E are drop to from location of C.
It is to guard against distances with two in Fig. 6, is i.e. is illustrated for the first pre-determined distance and the second pre-determined distance, in reality
In the application of border, the pre-determined distance in the application may include one or more warning distances, be not limited thereto.
The flight space of unmanned plane is divided by least two flight spaces based on ground installation in the embodiment of the present application, when
Only there are one warning apart from when, flight space be two flight spaces.The flying distance of unmanned plane is greater than or equal to different polices
Guard against apart from when, limit fly strategy may be the same or different.
It is only illustrated by taking sphere as an example in Fig. 6, the flying distance between unmanned plane and ground installation includes：Unmanned plane with
Air line distance between ground installation；(such as have low at this point, the flight range of unmanned plane is sphere centered on ground installation
Lower parking lot or market place builet below the ground etc.) or hemisphere (at this point, without underground parking or market place builet below the ground etc.).
Limit in the embodiment of the present application, which flies strategy, to be square, for example, the flight between unmanned plane and ground installation
Distance may include the vertical range of unmanned plane and horizontal plane.At this point it is possible to have multiple ground installations jointly determine unmanned plane with
The vertical range of horizontal plane.The flight range of unmanned plane is with the plane and horizontal plane institute group apart from horizontal plane pre-determined distance at this time
At cuboid.
Different according to actual conditions, the shape of the flight range of unmanned plane is different, to this application and is not specifically limited.
The embodiment of the present application also provides the unmanned planes for including virtual bench corresponding with information processing method, such as Fig. 7 institutes
Show, be the structure chart of unmanned plane provided by the embodiments of the present application, which includes：
First acquisition module 71, it is poor for obtaining the signal transmission time between the unmanned plane and ground installation；
Second acquisition module 72, it is poor according to the signal transmission time to be used for, and obtains the unmanned plane and is set with the ground
Flying distance between standby.
Optionally, the first acquisition module 71 may include：
Sending module for sending the first signal to the ground installation, and records and sends the first of first signal
Initial time；
First receiving module, the second signal for receiving the ground installation feedback, and record and receive second letter
Number the second initial time；
Acquisition module, for according to first initial time, second initial time and predetermined time delay, obtaining
The signal transmission time obtained between the unmanned plane and the ground installation is poor, and the predetermined time delay is the ground installation
Receive the time difference that the initial time of first signal sends the initial time of the second signal with the ground installation.
Optionally, the first acquisition module 71 may include：
Second receiving module, the first signal sent for receiving the ground installation；
Sending module, for when the initial time to receive first signal is initial time delay predetermined time delay
When, second signal is sent, so that the ground installation is according to sending the first initial time of first signal, receive described the
The second initial time and the predetermined time delay of binary signal, obtain the letter between the unmanned plane and the ground installation
Number transmission time difference；
Third receiving module, it is poor for receiving the signal transmission time that the ground installation is sent.
Optionally, further include：
Limit flies module, described for when the flying distance is greater than or equal to pre-determined distance, generating the first control instruction
First control instruction includes：For control the flying distance between the unmanned plane and the ground installation be less than it is described it is default away from
From control instruction, and/or, for prompting the control for shortening the flying distance between the unmanned plane and the ground installation to refer to
It enables.
Optionally, the winged module of the limit includes：
First generation module, for when the flying distance is greater than or equal to the first pre-determined distance, generating for prompting
Shorten the control instruction of the flying distance between the unmanned plane and the ground installation；
And/or
Second generation module, it is useless in when the flying distance is greater than or equal to the second pre-determined distance, it generates for controlling
Make the control instruction that flying distance between the unmanned plane and the ground installation is less than second pre-determined distance, described the
One pre-determined distance is less than or equal to second pre-determined distance.
Winged module is limited in the embodiment of the present application to be located in unmanned plane, can also be located in ground installation；If positioned at ground
In the equipment of face, then after ground installation generates control instruction, it is also necessary to be sent to unmanned plane.
The embodiment of the present application also provides a kind of internal structure charts of unmanned plane, as shown in figure 8, being carried for the embodiment of the present application
The internal structure chart of the unmanned plane of confession, the unmanned plane include：
Memory 81, for storing program；
Program may include program code, and said program code includes computer-managed instruction.
Memory 81 may include high-speed RAM memory, it is also possible to further include nonvolatile memory (non-volatile
Memory), a for example, at least magnetic disk storage.
Processor 82, for executing described program, described program is specifically used for：
The signal transmission time obtained between the unmanned plane and ground installation is poor；
It is poor according to the signal transmission time, obtain the flying distance between the unmanned plane and the ground installation.
Processor 82 may be a central processor CPU or specific integrated circuit ASIC (Application
Specific Integrated Circuit), or be arranged to implement the integrated electricity of one or more of the embodiment of the present invention
Road.
Unmanned plane can also include communication interface 83 and communication bus 84, wherein memory 81, processor 82 and logical
Mutual communication is realized in the letter communication of interface 83 by communication bus 84.
Optionally, processor 82 execute obtain the signal transmission time difference between the unmanned plane and ground installation when,
It can be specifically used for：
The first signal is sent to the ground installation, and records the first initial time for sending first signal；
The second signal of the ground installation feedback is received, and records the second initial time for receiving the second signal；
According to first initial time, second initial time and predetermined time delay, the unmanned plane is obtained
Signal transmission time between the ground installation is poor, and the predetermined time delay is that the ground installation receives described first
The initial time of signal sends the time difference of the initial time of the second signal with the ground installation.
Optionally, processor 82 execute obtain the signal transmission time difference between the unmanned plane and ground installation when,
It can be specifically used for：
Receive the first signal that the ground installation is sent；
When postponing predetermined time delay as initial time to receive the initial time of first signal, the second letter is sent
Number, so that ground installation foundation sends the first initial time of first signal, receives the second of the second signal
Initial time and the predetermined time delay, obtain the signal transmission time between the unmanned plane and the ground installation
Difference；
It is poor to receive the signal transmission time that the ground installation is sent.
Optionally, processor 82 can be also used for：
When the flying distance is greater than or equal to pre-determined distance, the first control instruction, first control instruction are generated
Including：Refer to for controlling control of the flying distance between the unmanned plane and the ground installation less than the pre-determined distance
It enables, and/or, the control instruction for prompting the flying distance between the shortening unmanned plane and the ground installation.
Optionally, processor 82 is being executed when the flying distance is greater than or equal to pre-determined distance, generates the first control
When instruction, it is specifically used for：
When the flying distance is greater than or equal to the first pre-determined distance, generate for prompting to shorten the unmanned plane and institute
State the control instruction of the flying distance between ground installation；
And/or
When the flying distance is greater than or equal to the second pre-determined distance, generate for controlling the unmanned plane with described
Flying distance between the equipment of face is less than the control instruction of second pre-determined distance, and first pre-determined distance is less than or equal to
Second pre-determined distance.
The embodiment of the present application also provides a kind of computer readable storage mediums, are stored thereon with computer program, described
Following steps are realized when computer program is executed by processor：
The signal transmission time obtained between the unmanned plane and ground installation is poor；
It is poor according to the signal transmission time, obtain the flying distance between the unmanned plane and the ground installation.
Optionally, when the signal transmission time difference obtained between the unmanned plane and ground installation is executed by processor
Realize following steps：
Receive the first signal that the ground installation is sent；
When postponing predetermined time delay as initial time to receive the initial time of first signal, the second letter is sent
Number, so that ground installation foundation sends the first initial time of first signal, receives the second of the second signal
Initial time and the predetermined time delay, obtain the signal transmission time between the unmanned plane and the ground installation
Difference；
It is poor to receive the signal transmission time that the ground installation is sent.
Optionally, following steps are also realized when the computer program is executed by processor：
When the flying distance is greater than or equal to pre-determined distance, the first control instruction, first control instruction are generated
Including：Refer to for controlling control of the flying distance between the unmanned plane and the ground installation less than the pre-determined distance
It enables, and/or, the control instruction for prompting the flying distance between the shortening unmanned plane and the ground installation.
Optionally, described when the flying distance is greater than or equal to pre-determined distance, it generates the first control instruction and is handled
Device realizes following steps when executing：
When the flying distance is greater than or equal to the first pre-determined distance, generate for prompting to shorten the unmanned plane and institute
State the control instruction of the flying distance between ground installation；
And/or
When the flying distance is greater than or equal to the second pre-determined distance, generate for controlling the unmanned plane with described
Flying distance between the equipment of face is less than the control instruction of second pre-determined distance, and first pre-determined distance is less than or equal to
Second pre-determined distance.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only that
A little elements, but also include other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.
The foregoing description of the disclosed embodiments enables professional and technical personnel in the field to realize or use the application.
Various modifications to these embodiments will be apparent to those skilled in the art, as defined herein
General Principle can in other embodiments be realized in the case where not departing from spirit herein or range.Therefore, the application
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest range caused.
Claims (20)
1. a kind of information processing method, which is characterized in that it is applied to unmanned plane, including：
The signal transmission time obtained between the unmanned plane and ground installation is poor；
It is poor according to the signal transmission time, obtain the flying distance between the unmanned plane and the ground installation.
2. information processing method according to claim 1, which is characterized in that it is described obtain the unmanned plane and ground installation it
Between signal transmission time difference include：
The first signal is sent to the ground installation, and records the first initial time for sending first signal；
The second signal of the ground installation feedback is received, and records the second initial time for receiving the second signal；
According to first initial time, second initial time and predetermined time delay, the unmanned plane and institute are obtained
The signal transmission time stated between ground installation is poor, and the predetermined time delay is that the ground installation receives first signal
Initial time and the ground installation send the second signal initial time time difference.
3. information processing method according to claim 1, which is characterized in that it is described obtain the unmanned plane and ground installation it
Between signal transmission time difference include：
Receive the first signal that the ground installation is sent；
When postponing predetermined time delay as initial time to receive the initial time of first signal, second signal is sent,
So that the ground installation is according to the second starting for sending the first initial time of first signal, receiving the second signal
Moment and the predetermined time delay, the signal transmission time obtained between the unmanned plane and the ground installation are poor；
It is poor to receive the signal transmission time that the ground installation is sent.
4. information processing method according to claim 1, which is characterized in that further include：
When the flying distance is greater than or equal to pre-determined distance, the first control instruction is generated, first control instruction includes：
For control the flying distance between the unmanned plane and the ground installation be less than the pre-determined distance control instruction, and/
Or, the control instruction for prompting the flying distance between the shortening unmanned plane and the ground installation.
5. information processing method according to claim 4, which is characterized in that described when the flying distance is greater than or equal in advance
If apart from when, generate the first control instruction include：
When the flying distance is more than or equal to the first pre-determined distance, generation is for the prompt shortening unmanned plane and describedly
The control instruction of flying distance between the equipment of face；
And/or
When the flying distance is greater than or equal to the second pre-determined distance, generation is set for controlling the unmanned plane with the ground
Flying distance between standby is less than the control instruction of second pre-determined distance, and first pre-determined distance is less than or equal to described
Second pre-determined distance.
6. a kind of unmanned plane, which is characterized in that including：
First acquisition module, it is poor for obtaining the signal transmission time between the unmanned plane and ground installation；
Second acquisition module, it is poor according to the signal transmission time to be used for, and obtains between the unmanned plane and the ground installation
Flying distance.
7. unmanned plane according to claim 6, which is characterized in that first acquisition module includes：
Sending module for sending the first signal to the ground installation, and records the first starting of transmission first signal
Moment；
First receiving module, the second signal for receiving the ground installation feedback, and record and receive the second signal
Second initial time；
Acquisition module, for according to first initial time, second initial time and predetermined time delay, obtaining institute
The signal transmission time stated between unmanned plane and the ground installation is poor, and the predetermined time delay receives for the ground installation
The initial time of first signal sends the time difference of the initial time of the second signal with the ground installation.
8. unmanned plane according to claim 6, which is characterized in that first acquisition module includes：
Second receiving module, the first signal sent for receiving the ground installation；
Sending module, for when postponing predetermined time delay as initial time to receive the initial time of first signal,
Second signal is sent, so that the ground installation is according to the first initial time, the reception described second for sending first signal
The second initial time and the predetermined time delay of signal, obtain the signal between the unmanned plane and the ground installation
Transmission time difference；
Third receiving module, it is poor for receiving the signal transmission time that the ground installation is sent.
9. unmanned plane according to claim 6, which is characterized in that further include：
Limit flies module, is used for when the flying distance is greater than or equal to pre-determined distance, the first control instruction of generation, described first
Control instruction includes：For controlling the flying distance between the unmanned plane and the ground installation less than the pre-determined distance
Control instruction, and/or, the control instruction for prompting the flying distance between the shortening unmanned plane and the ground installation.
10. unmanned plane according to claim 9, which is characterized in that the limit flies module and includes：
First generation module, for when the flying distance is greater than or equal to the first pre-determined distance, generating for prompting to shorten
The control instruction of flying distance between the unmanned plane and the ground installation；
And/or
Second generation module, it is useless in when the flying distance is greater than or equal to the second pre-determined distance, it generates for controlling
The control instruction that the flying distance between unmanned plane and the ground installation is less than second pre-determined distance is stated, described first is pre-
If distance is less than or equal to second pre-determined distance.
11. a kind of unmanned plane, which is characterized in that including：
Memory, for storing program；
Processor, for executing described program, described program is specifically used for：
The signal transmission time obtained between the unmanned plane and ground installation is poor；
It is poor according to the signal transmission time, obtain the flying distance between the unmanned plane and the ground installation.
12. according to unmanned plane described in claim 11, which is characterized in that the processor is executing the acquisition unmanned plane and ground
When signal transmission time difference between the equipment of face, it is specifically used for：
The first signal is sent to the ground installation, and records the first initial time for sending first signal；
The second signal of the ground installation feedback is received, and records the second initial time for receiving the second signal；
According to first initial time, second initial time and predetermined time delay, the unmanned plane and institute are obtained
The signal transmission time stated between ground installation is poor, and the predetermined time delay is that the ground installation receives first signal
Initial time and the ground installation send the second signal initial time time difference.
13. according to unmanned plane described in claim 11, which is characterized in that the processor is executing the acquisition unmanned plane and ground
When signal transmission time difference between the equipment of face, it is specifically used for：
Receive the first signal that the ground installation is sent；
When postponing predetermined time delay as initial time to receive the initial time of first signal, second signal is sent,
So that the ground installation is according to the second starting for sending the first initial time of first signal, receiving the second signal
Moment and the predetermined time delay, the signal transmission time obtained between the unmanned plane and the ground installation are poor；
It is poor to receive the signal transmission time that the ground installation is sent.
14. according to unmanned plane described in claim 11, which is characterized in that the processor can be also used for：
When the flying distance is greater than or equal to pre-determined distance, the first control instruction is generated, first control instruction includes：
For control the flying distance between the unmanned plane and the ground installation be less than the pre-determined distance control instruction, and/
Or, the control instruction for prompting the flying distance between the shortening unmanned plane and the ground installation.
15. according to unmanned plane described in claim 14, which is characterized in that the processor is being executed when the flying distance is more than
Or when equal to pre-determined distance, when generating the first control instruction, it is specifically used for：
When the flying distance is more than or equal to the first pre-determined distance, generation is for the prompt shortening unmanned plane and describedly
The control instruction of flying distance between the equipment of face；
And/or
When the flying distance is greater than or equal to the second pre-determined distance, generation is set for controlling the unmanned plane with the ground
Flying distance between standby is less than the control instruction of second pre-determined distance, and first pre-determined distance is less than or equal to described
Second pre-determined distance.
16. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
Following steps are realized when being executed by processor：
The signal transmission time obtained between the unmanned plane and ground installation is poor；
It is poor according to the signal transmission time, obtain the flying distance between the unmanned plane and the ground installation.
17. according to computer readable storage medium described in claim 16, which is characterized in that described to obtain the unmanned plane and ground
Signal transmission time difference between the equipment of face realizes following steps when being executed by processor：
The first signal is sent to the ground installation, and records the first initial time for sending first signal；
The second signal of the ground installation feedback is received, and records the second initial time for receiving the second signal；
According to first initial time, second initial time and predetermined time delay, the unmanned plane and institute are obtained
The signal transmission time stated between ground installation is poor, and the predetermined time delay is that the ground installation receives first signal
Initial time and the ground installation send the second signal initial time time difference.
18. according to computer readable storage medium described in claim 16, which is characterized in that described to obtain the unmanned plane and ground
Signal transmission time difference between the equipment of face realizes following steps when being executed by processor：
Receive the first signal that the ground installation is sent；
When postponing predetermined time delay as initial time to receive the initial time of first signal, second signal is sent,
So that the ground installation is according to the second starting for sending the first initial time of first signal, receiving the second signal
Moment and the predetermined time delay, the signal transmission time obtained between the unmanned plane and the ground installation are poor；
It is poor to receive the signal transmission time that the ground installation is sent.
19. according to computer readable storage medium described in claim 16, which is characterized in that the computer program is by processor
Following steps are also realized when execution：
When the flying distance is greater than or equal to pre-determined distance, the first control instruction is generated, first control instruction includes：
For control the flying distance between the unmanned plane and the ground installation be less than the pre-determined distance control instruction, and/
Or, the control instruction for prompting the flying distance between the shortening unmanned plane and the ground installation.
20. according to computer readable storage medium described in claim 19, which is characterized in that described when the flying distance is more than
Or when equal to pre-determined distance, generates when the first control instruction is executed by processor and realize following steps：
When the flying distance is more than or equal to the first pre-determined distance, generation is for the prompt shortening unmanned plane and describedly
The control instruction of flying distance between the equipment of face；
And/or
When the flying distance is greater than or equal to the second pre-determined distance, generation is set for controlling the unmanned plane with the ground
Flying distance between standby is less than the control instruction of second pre-determined distance, and first pre-determined distance is less than or equal to described
Second pre-determined distance.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/090527 WO2019000269A1 (en) | 2017-06-28 | 2017-06-28 | Information processing method, unmanned aerial vehicle and computer-readable storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108541357A true CN108541357A (en) | 2018-09-14 |
Family
ID=63489826
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780005162.6A Pending CN108541357A (en) | 2017-06-28 | 2017-06-28 | A kind of information processing method, unmanned plane and computer readable storage medium |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108541357A (en) |
| WO (1) | WO2019000269A1 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110932812A (en) * | 2019-11-13 | 2020-03-27 | 深圳供电局有限公司 | Task sending method, task receiving method and system based on time synchronization |
| CN112154393A (en) * | 2019-10-22 | 2020-12-29 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle return control method, user terminal and unmanned aerial vehicle |
| CN112189175A (en) * | 2019-10-22 | 2021-01-05 | 深圳市大疆创新科技有限公司 | Anti-cracking method of unmanned aerial vehicle, user terminal and unmanned aerial vehicle |
| CN112242874A (en) * | 2020-06-04 | 2021-01-19 | 北京航空航天大学 | Optimization variable decoupling-based unmanned aerial vehicle relay transmission efficiency optimization method |
| CN113296140A (en) * | 2021-04-30 | 2021-08-24 | 江苏核电有限公司 | Simulated radiation field intensity and dose measuring method for training |
| CN114866169A (en) * | 2022-05-25 | 2022-08-05 | 中国电子科技集团公司第五十四研究所 | Unmanned aerial vehicle data link time delay test method based on multilink multichannel |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105247593A (en) * | 2014-04-17 | 2016-01-13 | 深圳市大疆创新科技有限公司 | Flight control for flight-restricted regions |
| CN105425208A (en) * | 2015-12-21 | 2016-03-23 | 深圳思科尼亚科技有限公司 | Positioning system and method used for accurate navigation of unmanned aerial vehicle |
| CN205540290U (en) * | 2016-04-07 | 2016-08-31 | 北京博鹰通航科技有限公司 | Many rotor unmanned aerial vehicle with ultrasonic ranging device |
| CN205561858U (en) * | 2016-04-28 | 2016-09-07 | 广安市冠华科技有限公司 | On -vehicle unmanned aerial vehicle navigation |
| CN106443062A (en) * | 2016-08-29 | 2017-02-22 | 零度智控（北京）智能科技有限公司 | Unmanned plane speed measurement method and device, and unmanned plane |
| EP3173734A1 (en) * | 2015-11-30 | 2017-05-31 | Ewatt Technology Co., Ltd. | Ranging obstacle avoidance instrument and ranging obstacle avoidance method for unmanned aerial vehicle |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160244161A1 (en) * | 2015-02-23 | 2016-08-25 | Daniel R. McClure | Unmanned aircraft having flight limitations |
| CN205615711U (en) * | 2016-05-09 | 2016-10-05 | 南京奇蛙智能科技有限公司 | Many rotor unmanned aerial vehicle with all -round ultrasonic sensor |
| CN106772412B (en) * | 2016-11-25 | 2019-11-26 | 国家电网公司 | The measurement method and device of the transmission line of electricity space length of unmanned plane |
-
2017
- 2017-06-28 WO PCT/CN2017/090527 patent/WO2019000269A1/en active Application Filing
- 2017-06-28 CN CN201780005162.6A patent/CN108541357A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105247593A (en) * | 2014-04-17 | 2016-01-13 | 深圳市大疆创新科技有限公司 | Flight control for flight-restricted regions |
| EP3173734A1 (en) * | 2015-11-30 | 2017-05-31 | Ewatt Technology Co., Ltd. | Ranging obstacle avoidance instrument and ranging obstacle avoidance method for unmanned aerial vehicle |
| CN105425208A (en) * | 2015-12-21 | 2016-03-23 | 深圳思科尼亚科技有限公司 | Positioning system and method used for accurate navigation of unmanned aerial vehicle |
| CN205540290U (en) * | 2016-04-07 | 2016-08-31 | 北京博鹰通航科技有限公司 | Many rotor unmanned aerial vehicle with ultrasonic ranging device |
| CN205561858U (en) * | 2016-04-28 | 2016-09-07 | 广安市冠华科技有限公司 | On -vehicle unmanned aerial vehicle navigation |
| CN106443062A (en) * | 2016-08-29 | 2017-02-22 | 零度智控（北京）智能科技有限公司 | Unmanned plane speed measurement method and device, and unmanned plane |
Non-Patent Citations (1)
| Title |
|---|
| 彭力: "《无线传感器网络原理与应用》", 31 January 2014, 西安电子科技大学出版社 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112154393A (en) * | 2019-10-22 | 2020-12-29 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle return control method, user terminal and unmanned aerial vehicle |
| CN112189175A (en) * | 2019-10-22 | 2021-01-05 | 深圳市大疆创新科技有限公司 | Anti-cracking method of unmanned aerial vehicle, user terminal and unmanned aerial vehicle |
| WO2021077306A1 (en) * | 2019-10-22 | 2021-04-29 | 深圳市大疆创新科技有限公司 | Return control method of unmanned aerial vehicle, user terminal, and unmanned aerial vehicle |
| CN110932812A (en) * | 2019-11-13 | 2020-03-27 | 深圳供电局有限公司 | Task sending method, task receiving method and system based on time synchronization |
| CN110932812B (en) * | 2019-11-13 | 2021-10-01 | 深圳供电局有限公司 | Task sending method, task receiving method and system based on time synchronization |
| CN112242874A (en) * | 2020-06-04 | 2021-01-19 | 北京航空航天大学 | Optimization variable decoupling-based unmanned aerial vehicle relay transmission efficiency optimization method |
| CN113296140A (en) * | 2021-04-30 | 2021-08-24 | 江苏核电有限公司 | Simulated radiation field intensity and dose measuring method for training |
| CN114866169A (en) * | 2022-05-25 | 2022-08-05 | 中国电子科技集团公司第五十四研究所 | Unmanned aerial vehicle data link time delay test method based on multilink multichannel |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019000269A1 (en) | 2019-01-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108541357A (en) | A kind of information processing method, unmanned plane and computer readable storage medium | |
| US11057087B2 (en) | Mobile object and antenna automatic alignment method and system thereof | |
| CN104932525B (en) | Control method, device, ground control system and the unmanned plane of unmanned plane | |
| CN105243878B (en) | A kind of electron boundary device, unmanned flight's system and unmanned vehicle monitoring method | |
| CN104820429B (en) | Ultrasonic distance detection-based unmanned aerial vehicle obstacle avoidance system and control method thereof | |
| WO2019113727A1 (en) | Unmanned aerial vehicle return method and device, storage medium, and unmanned aerial vehicle | |
| US20200372808A1 (en) | Secure unmanned aerial vehicle flight planning | |
| US11073541B2 (en) | Intelligent method for controlling home appliance, apparatus and intelligent computing device for controlling home appliance | |
| CN103079059B (en) | A kind of based on the single gunlock-many ball machine interlock method of grid in conjunction with interpolation | |
| CN109799842B (en) | Multi-unmanned aerial vehicle sequence flight control method | |
| JP2017095083A5 (en) | ||
| CN103942940B (en) | A kind of flight control | |
| CN106483980B (en) | A kind of unmanned plane follows the control method of flight, apparatus and system | |
| WO2016144808A1 (en) | Drone encroachment avoidance monitor | |
| CN105629271B (en) | The control method of Big Dipper double module terminal device based on navigation ADS-B applications | |
| CN106597369A (en) | Control method, control platform and control system for unmanned planes | |
| CN107094062A (en) | A kind of array device and full spatial domain unmanned plane directional jamming system | |
| CN108700668A (en) | Detect method, the unmanned plane of the positioning device of unmanned plane | |
| CN103178616A (en) | Wireless-positioning-technology-based transformer substation intelligent forbidden zone management method | |
| CN106980323A (en) | A kind of system for controlling unmanned plane | |
| CN107454131A (en) | The device and method weighed by mobile network sharing unmanned aerial vehicle (UAV) control | |
| CN109270949A (en) | A kind of UAV Flight Control System | |
| WO2021134428A1 (en) | Unmanned aerial vehicle landing control method and device, uav base station, and uav system | |
| US20220329346A1 (en) | Processing information related to one or more monitored areas | |
| CN105931452B (en) | Method, apparatus, system and the terminal device of terminal device counter infrared ray signal interference |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180914 |
|
| RJ01 | Rejection of invention patent application after publication |