CN108684204B

CN108684204B - Unmanned aerial vehicle control method and control equipment, unmanned aerial vehicle supervision method and supervision equipment

Info

Publication number: CN108684204B
Application number: CN201780005609.XA
Authority: CN
Inventors: 林星森; 饶雄斌; 龚明
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2017-03-21
Filing date: 2017-03-21
Publication date: 2022-04-15
Anticipated expiration: 2037-03-21
Also published as: CN108684204A; WO2018170736A1

Abstract

An unmanned aerial vehicle control method and control equipment, an unmanned aerial vehicle supervision method and supervision equipment and an unmanned aerial vehicle are used for realizing the supervision of the unmanned aerial vehicle. The unmanned aerial vehicle control method comprises the following steps: acquiring the supervision information of the unmanned aerial vehicle, and configuring the supervision information into a supervision frame or a supervision subframe by using a processor; in a working channel of a communication network between the unmanned aerial vehicle and the control terminal, a transmitter is used for transmitting a supervision frame or a supervision subframe in a time slice with a preset length and/or on a preset frequency point.

Description

Unmanned aerial vehicle control method and control equipment, unmanned aerial vehicle supervision method and supervision equipment

Technical Field

The embodiment of the application relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle control method and control equipment, an unmanned aerial vehicle supervision method and supervision equipment and an unmanned aerial vehicle.

Background

Unmanned aerial vehicle is as an aviation aircraft, and in the in-process in the use airspace, there is the flight area indefinite, invades privacy, potential safety hazard scheduling problem, in order to guarantee public's security, needs receive certain level's supervision.

At present, interception and discovery technique to unmanned aerial vehicle can include phased array radar, electronic imaging, sound wave detection and radio frequency signal detection etc. but these techniques are not mature yet, can't be used for discovering small unmanned aerial vehicle well, and even discover small unmanned aerial vehicle, also can't provide relevant information such as unmanned aerial vehicle's identity and geographical position, these techniques all have simultaneously unstability, the working distance is short or accuracy shortcoming such as not high, specifically can be as follows: 1. phased array radar: because unmanned aerial vehicle is small, the plane of reflection is little, the radar working distance is short to be difficult for distinguishing the target unmanned aerial vehicle or other objects, the false detection probability is high. The phased array radar is large in using volume, and the field arrangement difficulty is increased; 2. electronic imaging: firstly, the detection probability is low, secondly, large-caliber lenses are needed for remote detection, thirdly, the target is unmanned aerial vehicle or flying birds which are difficult to distinguish, and the thermal imaging technology has the same problems; 3. acoustic wave detection: compared with other technologies, the detection distance is shorter, the interference of environmental noise is large, and especially when multiple unmanned aerial vehicles appear simultaneously, the single target cannot be identified; 4. detecting a radio frequency signal: because the unmanned aerial vehicle generally adopts ISM (industrial Scientific medical) frequency band signals, and the devices using such frequency bands are numerous, and the characteristics of the signals of the unmanned aerial vehicles of different models are different, so that the signals of the unmanned aerial vehicle are difficult to detect from the characteristics of radio frequency signals, meanwhile, the cracking difficulty of the signals of the unmanned aerial vehicle is high, and after the signals of the unmanned aerial vehicle are cracked, a manufacturer may update firmware to repair the cracked bugs of the signals of the unmanned aerial vehicle, so that the cracking method is easy to fail.

In addition, except the above-mentioned technique, unmanned aerial vehicle also can be broadcast through carrying ADS-B equipment, and ground cooperation has radar equipment to survey and realize the supervision simultaneously. However, because the ADS-B device is a high-power transmitting device (greater than 100W), it is difficult to be applied to small and medium-sized micro unmanned aerial vehicles, and the radar detection on the ground has certain requirements on the volume and flight height of the target aircraft, whereas for small and medium-sized micro unmanned aerial vehicles featuring "low/slow/small/many", it is difficult to achieve efficient detection.

Disclosure of Invention

The embodiment of the invention provides an unmanned aerial vehicle control method and control equipment, an unmanned aerial vehicle supervision method and supervision equipment and an unmanned aerial vehicle, which are used for realizing the supervision of the unmanned aerial vehicle.

In view of the above, a first aspect of the present invention provides a method for controlling an unmanned aerial vehicle, which may include:

acquiring the supervision information of the unmanned aerial vehicle, and configuring the supervision information into a supervision frame or a supervision subframe by using a processor;

in a working channel of a communication network between the unmanned aerial vehicle and the control terminal, a transmitter is used for transmitting a supervision frame or a supervision subframe in a time slice with a preset length and/or on a preset frequency point.

A second aspect of the present invention provides a method for supervising an unmanned aerial vehicle, which may include:

scanning a working channel of a communication network between the unmanned aerial vehicle and the control terminal by using a detector to acquire data sent by the unmanned aerial vehicle;

determining, with a processor, a supervision frame or a supervision subframe from data;

and acquiring the supervision information of the unmanned aerial vehicle from the supervision frame or the supervision subframe by using the processor.

A third aspect of the present invention provides a control apparatus, which may include:

the processor is used for acquiring the supervision information of the unmanned aerial vehicle and configuring the supervision information into a supervision frame or a supervision subframe;

and the transmitter is used for transmitting the supervision frame or the supervision subframe in a time slice with a preset length and/or on a preset frequency point in a working channel of a communication network between the unmanned aerial vehicle and the control terminal.

A fourth aspect of the present invention provides a supervisory device, which may comprise:

the detector is used for scanning a working channel of a communication network between the unmanned aerial vehicle and the control terminal and acquiring data sent by the unmanned aerial vehicle;

a processor for determining a supervision frame or a supervision subframe from data; and acquiring the supervision information of the unmanned aerial vehicle from the supervision frame or the supervision subframe.

A fifth aspect of the present invention provides an unmanned aerial vehicle, which may include:

the power system is used for providing flight power for the unmanned aerial vehicle;

the control device according to the third aspect.

According to the technical scheme, the embodiment of the invention has the following advantages:

different from the situation of the prior art, the invention configures the supervision information into the supervision frame or the supervision subframe, and can send the supervision frame or the supervision subframe by using the working channel of the communication network between the unmanned aerial vehicle and the control terminal in a time slice with a preset length and/or on a preset frequency point, so that when the supervision equipment supervises the unmanned aerial vehicle, the supervision information can be obtained only by obtaining the supervision frame or the supervision subframe, and the supervision of the unmanned aerial vehicle can be realized under the condition that other frames or subframes transmitted between the unmanned aerial vehicle and the control terminal are not subjected to brute force cracking. Therefore, the real-time performance of the supervision equipment for acquiring the supervision information of the unmanned aerial vehicle is ensured, and the privacy of the unmanned aerial vehicle user is protected; meanwhile, the mode of creating the supervision frame or the supervision subframe in a software mode is adopted, the hardware structure of the unmanned aerial vehicle is not required to be changed, or the hardware cost of the unmanned aerial vehicle is not required to be increased, and the supervision equipment can be enabled to acquire the supervision information of the unmanned aerial vehicle simply and efficiently.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic diagram of data transmission of an unmanned aerial vehicle according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of an embodiment of an unmanned aerial vehicle control method according to an embodiment of the invention;

FIG. 3 is a schematic diagram of another embodiment of the unmanned aerial vehicle control method according to the embodiment of the present invention;

FIG. 4 is a diagram illustrating a first structure of a supervision subframe according to an embodiment of the present invention;

FIG. 5 is a diagram illustrating a second structure of a supervision subframe according to an embodiment of the present invention;

FIG. 6 is a diagram illustrating a third structure of a supervision subframe according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of another embodiment of the unmanned aerial vehicle control method according to the embodiment of the present invention;

FIG. 8 is a schematic diagram of another embodiment of the unmanned aerial vehicle control method according to the embodiment of the present invention;

FIG. 9 is a schematic diagram of another embodiment of the unmanned aerial vehicle control method according to the embodiment of the present invention;

fig. 10 is a schematic diagram of an embodiment of a method for supervising an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 11 is a schematic diagram of another embodiment of the unmanned aerial vehicle monitoring method in the embodiment of the present invention;

FIG. 12 is a diagram illustrating data transmission by the remote monitoring platform according to an embodiment of the present invention;

fig. 13 is a schematic diagram of another embodiment of the unmanned aerial vehicle monitoring method in the embodiment of the present invention;

FIG. 14 is a schematic diagram of an embodiment of a control device in an embodiment of the present invention;

FIG. 15 is a schematic diagram of an embodiment of a supervisory device in accordance with embodiments of the present invention;

fig. 16 is a schematic diagram of another embodiment of the supervision device in the embodiment of the present invention.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In the embodiment of the present invention, assuming that there is an unmanned aerial vehicle, as shown in fig. 1, the unmanned aerial vehicle may be in communication connection with the control terminal to implement flight control of the unmanned aerial vehicle by the control terminal, and meanwhile, the unmanned aerial vehicle may send acquired data to the control terminal. In the embodiment of the invention, the unmanned aerial vehicle can also be supervised by the supervision equipment, namely the supervision equipment can acquire communication data between the unmanned aerial vehicle and the control terminal thereof.

At present, SDR (Software Defined Radio) is a Radio broadcast communication technology, which uses a standardized and modularized general hardware platform, and can be implemented by Software based on Software Defined parts, such as working frequency band, modulation mode, data format, communication protocol, etc., and because the Software is convenient for downloading and upgrading, the hardware does not need to be completely replaced. SDR technology is adopted by numerous unmanned aerial vehicle manufacturers because of its software-defined flexibility.

However, SDR technology is a wireless communication technology with strong flexibility and openness, and some parameters of the technology are slightly modified, i.e. can be changed into different communication protocols. Therefore, after the communication connection between the unmanned aerial vehicle and the control terminal is established through the SDR technology, the supervision device in the prior art hardly finds a general method to monitor the communication system based on the SDR technology, so as to realize supervision on the unmanned aerial vehicle. Secondly, in consideration of commercial interests, each unmanned aerial vehicle manufacturer does not usually disclose technical details of the adopted SDR technology when manufacturing the unmanned aerial vehicles, so that it is difficult to realize supervision of the unmanned aerial vehicles manufactured by different companies by the supervision equipment. Furthermore, theoretically, under the condition that the supervision equipment obtains the implementation details of the SDR technology, the transmission information content of the unmanned aerial vehicle adopting the SDR technology can be intercepted in a brute force cracking mode, so that the supervision information such as identity information and position information of the unmanned aerial vehicle can be acquired, but the time required by brute force cracking is long, and the real-time requirement of the supervision equipment on unmanned aerial vehicle monitoring is difficult to guarantee. At present, due to the requirement of information security, the unmanned aerial vehicle generally fuses the advanced information encryption function, so that the cost of supervision information such as identity information and position information of the unmanned aerial vehicle is higher by breaking the supervision equipment through violence, and the unmanned aerial vehicle is not beneficial to controlling supervision cost.

In the embodiment of the invention, an unmanned aerial vehicle control method and control equipment, an unmanned aerial vehicle supervision method and supervision equipment and an unmanned aerial vehicle are provided, the unmanned aerial vehicle can configure the supervision information into an independent supervision frame or a supervision subframe by acquiring the supervision information of the unmanned aerial vehicle, the supervision frame or the supervision subframe is different from the traditional frame or subframe for transmitting data between the unmanned aerial vehicle and a control terminal, at the moment, the supervision equipment only needs to receive the supervision frame or the supervision subframe to acquire the supervision information of the unmanned aerial vehicle, the scheme fully utilizes the flexibility of software definition of SDR technology to create and configure the supervision frame or the supervision subframe containing the supervision information, the supervision frame or the supervision subframe is used as a carrier, so that the supervision equipment can acquire the supervision information of the unmanned aerial vehicle, and the traditional frame or subframe sent by the unmanned aerial vehicle or the control terminal does not need to be cracked to acquire the supervision information of the unmanned aerial vehicle, the real-time of supervision equipment obtaining unmanned aerial vehicle supervision information is guaranteed like this, unmanned aerial vehicle user's privacy has been protected simultaneously, in addition, through the mode of software configuration supervision frame or supervision subframe, need not to change unmanned aerial vehicle's hardware configuration, can realize low-cost unmanned aerial vehicle supervision.

It is understood that in the embodiment of the present invention, the unmanned aerial vehicle, i.e., the unmanned aerial vehicle, may be a rotary wing aircraft, a fixed wing aircraft, or a fixed wing and rotary wing hybrid aircraft, etc. The rotorcraft may include, but is not limited to, a single rotor, a double rotor, a triple rotor, a quad rotor, a hexarotor, and so on, which are not limited herein. In practical applications, the unmanned aerial vehicle can implement multi-dimensional movements, such as vertical movement, pitching movement, rolling movement, back and forth movement, and the like, an auxiliary device for supporting a load can be installed on a body of the unmanned aerial vehicle, so as to fix the load, optionally adjust the posture of the load (for example, change the height, the inclination angle and/or the direction of the load), stably maintain the load in a certain posture, and the like, and the load on the auxiliary device can include a camera, a video camera or a sensor, and the like, so as to implement different tasks and multiple functions of the unmanned aerial vehicle, which is not limited herein.

Further, in the embodiment of the present invention, the control terminal may include, but is not limited to, one or more of a remote controller, a smart phone, a tablet, a smart wearable device (watch, bracelet), a ground control station, a PC, a laptop, and the like.

It should be noted that, in the embodiment of the present invention, as shown in fig. 1, after the unmanned aerial vehicle establishes a communication connection with the control terminal, uplink data of the unmanned aerial vehicle refers to communication data sent from the control terminal to the unmanned aerial vehicle, and downlink data of the unmanned aerial vehicle refers to communication data sent from the unmanned aerial vehicle to the control terminal, and after the limitation, a description thereof will not be repeated.

For convenience of understanding, a specific flow in the embodiment of the present invention is described below, and referring to fig. 2, an embodiment of the method for controlling an unmanned aerial vehicle in the embodiment of the present invention includes:

201. acquiring the supervision information of the unmanned aerial vehicle, and configuring the supervision information into a supervision frame or a supervision subframe by using a processor;

in this embodiment, because communication connection can be established between unmanned aerial vehicle and the control terminal, unmanned aerial vehicle and control terminal all can regard as the execution subject so to at unmanned aerial vehicle's flight in-process, acquire unmanned aerial vehicle's supervision information, and can utilize the treater to configure supervision information into supervision frame or supervision subframe.

Specifically, since one frame or any one subframe in one frame transmitted between the drone and the control terminal may be configured to be transmitted by downlink data or may be configured to be transmitted by uplink data, after the supervision information is configured as a supervision frame or a supervision subframe, the supervision frame or the supervision subframe may be transmitted by downlink data, that is, the supervision frame or the supervision subframe is transmitted by the drone, and in addition, the supervision frame or the supervision subframe may also be transmitted by uplink data, that is, the supervision frame or the supervision subframe is transmitted by the control terminal connected to the drone.

In this embodiment, the processor may be configured on the unmanned aerial vehicle, and may also be configured on the control terminal. Preferably, the processor is configured on the drone, which is not limited herein.

202. In a working channel of a communication network between the unmanned aerial vehicle and the control terminal, a transmitter is used for transmitting a supervision frame or a supervision subframe in a time slice with a preset length and/or on a preset frequency point.

In this embodiment, after the obtained monitoring information of the unmanned aerial vehicle is configured into the monitoring frame or the monitoring subframe by the processor, the monitoring frame or the monitoring subframe may be transmitted by the transmitter in a time slice with a preset length and/or on a preset frequency point in a working channel of a communication network between the unmanned aerial vehicle and the control terminal.

Specifically, the connection based on the wired communication network is not favorable for flight control of the unmanned aerial vehicle, and preferably, in this embodiment, the communication network between the unmanned aerial vehicle and the control terminal may be a wireless communication network. In a working channel under the wireless communication network, after the communication technical specification between the unmanned aerial vehicle and the control terminal is defined, a supervision frame or a supervision subframe can be sent in a time slice with a preset length, that is, in a wireless frame format, one time slice with the preset length is divided to be used for sending the supervision frame or the supervision subframe, and the rest time slices can be used for sending other frames or other subframes except the supervision frame or the supervision subframe (namely, the traditional frames or subframes sent by the unmanned aerial vehicle or the control terminal in the part); the supervision frame or the supervision subframe can also be sent on the preset frequency point, and other frames or other subframes except the supervision frame or the supervision subframe are sent outside the preset frequency point; the supervision frame or the supervision subframe can also be sent in a time slice with a preset length and on a preset frequency point so as to definitely send the length of the time slice and the frequency point of the supervision frame or the supervision subframe.

In a communication network between an unmanned aerial vehicle and a control terminal, a plurality of working channels can exist, and no matter whether a supervision frame or a supervision subframe is sent in a time slice with a preset length and/or on a preset frequency point, the unmanned aerial vehicle or the control terminal can select one of the working channels to send the supervision frame or the supervision subframe in the plurality of working channels, wherein when the supervision frame or the supervision subframe can be sent according to the preset frequency point, the working channels can be selected according to the preset frequency point. In practical application, when the transmitter is used for transmitting the supervision frame or the supervision subframe, the transmitting power of the transmitter can be adjusted, so that the supervision frame or the supervision subframe can be transmitted within the frequency band width of a working channel of a communication network between the unmanned aerial vehicle and the control terminal when being transmitted.

It can be understood that, in this embodiment, the communication connection between the drone and the control terminal may be based on an SDR technology, and in practical applications, the communication connection may be other than the SDR technology, as long as the sending of the supervision frame or the supervision subframe can be implemented, and the specific implementation is not limited herein.

In this embodiment, this transmitter can set up on unmanned aerial vehicle, also can set up on control terminal, does not do the restriction here. Because the supervision frame or supervision subframe that control terminal sent is sheltered from by vegetation, building, mountain etc. easily, preferably, the transmitter can set up on unmanned aerial vehicle, and the supervision frame or supervision subframe use unmanned aerial vehicle's downlink data to send.

In this embodiment, the monitoring information is configured to be a monitoring frame or a monitoring subframe, and the monitoring frame or the monitoring subframe is transmitted in a time slice with a preset length and/or on a preset frequency point, so that the monitoring device can acquire the monitoring information by acquiring the monitoring frame or the monitoring subframe. Like this, when supervisory equipment supervises unmanned aerial vehicle, need not to decode other frames or the subframe of transmission between unmanned aerial vehicle and the control terminal and acquire supervisory information, only need to acquire supervisory frame or supervision subframe, be favorable to not carrying out under the condition that non-violence is broken to other frames or other subframes, supervisory equipment has been guaranteed like this and has acquired unmanned aerial vehicle supervisory information's real-time, unmanned aerial vehicle user's privacy has been protected simultaneously, in addition, the mode of supervision frame or supervision subframe is configured through the software mode, need not to increase hardware cost, can simply, make supervisory equipment acquire unmanned aerial vehicle's supervisory information high-efficiently.

It is to be understood that, since the supervision frame or the supervision subframe may be transmitted within a time slice of a preset length and/or on a preset frequency point, the corresponding manner of transmitting the supervision frame or the supervision subframe within a time slice of a preset length and/or on a preset frequency point will be schematically described below with the drone as an execution subject, wherein the processor and/or the transmitter may be configured on the drone.

Firstly, sending in a time slice with preset length

Referring to fig. 3, an embodiment of the method for controlling the unmanned aerial vehicle according to the embodiment of the present invention includes:

301. acquiring the supervision information of the unmanned aerial vehicle;

in this embodiment, in order to be favorable to realizing unmanned aerial vehicle's supervision, at unmanned aerial vehicle's flight in-process, unmanned aerial vehicle can acquire unmanned aerial vehicle's supervision information.

Specifically, the supervision information in this embodiment, as the information indicating the relevant parameters of the drone, may include, but is not limited to, one or more of identity information, location information, flight parameter information, flight attitude information, owner information, purchase time information, purchase location information, historical flight trajectory information, hardware configuration information, check position information of the drone, and location information of the control terminal.

The identity information may include, but is not limited to, a manufacturer identifier and a model of the drone; the position information of the unmanned aerial vehicle can include but is not limited to at least one of current position information of the unmanned aerial vehicle and position information of the unmanned aerial vehicle during takeoff; flight parameter information may include, but is not limited to, at least one of maximum speed of flight, maximum altitude of flight, and current airspeed; the attitude information may include, but is not limited to, at least one of roll angle, pitch angle, and yaw angle; the hardware configuration information may include at least, but is not limited to, configuration information of a payload of the drone; the check bit information can be a Cyclic Redundancy Check (CRC) code; the position information of the control terminal may include, but is not limited to, at least one of position information when the unmanned aerial vehicle takes off and position information output by a positioning device on the control terminal.

In practical application, unmanned aerial vehicle acquires unmanned aerial vehicle's supervision information's mode has the multiple, can gather by unmanned aerial vehicle by oneself, also can be located by external data source by unmanned aerial vehicle and acquire, specifically as follows:

1. unmanned aerial vehicle gathers by oneself: the unmanned aerial vehicle can be provided with a sensing system and a memory, wherein the sensing system can be used for acquiring current position information and/or flight attitude information of the unmanned aerial vehicle, the memory can store one or more of identity information of the unmanned aerial vehicle, maximum flight speed and/or maximum flight altitude in flight parameter information, owner information, purchase time information, purchase place information, historical flight track information, hardware configuration information and position information of a control terminal, check bit information can be provided by the processor to realize check on other information, and the unmanned aerial vehicle can acquire the information stored in the memory through the processor.

Specifically, the sensing System may include a GNSS (Global Navigation Satellite System) device, the GNSS device may specifically be a GPS (Global Positioning System) device, and the GNSS device or the GPS device may realize Positioning of the unmanned aerial vehicle to acquire current position information of the unmanned aerial vehicle. The sensing system can further comprise an inertial measurement unit IMU, the IMU can rely on a gyroscope to acquire flight attitude information of the unmanned aerial vehicle and can also rely on an accelerometer to acquire the current flight speed of the unmanned aerial vehicle so as to determine the current flight state of the unmanned aerial vehicle.

It is understood that, in addition to the above description, in practical applications, the sensing system in this embodiment may also be an ultrasonic sensor, a radar wave sensor, a visual sensor (such as a camera), or a combination thereof, and the specific details are not limited herein.

Further, if the maximum flying speed and the maximum flying height in the flying parameter information are historical flying information of the unmanned aerial vehicle, the sensing system can be stored in a storage of the unmanned aerial vehicle after acquiring the position information and/or the flying attitude information so as to form historical flying track information of the unmanned aerial vehicle and the maximum flying speed and the maximum flying height accumulated by the unmanned aerial vehicle in the historical flying process. If the maximum flying speed and the maximum flying height in the flying parameter information are inherent parameters of the unmanned aerial vehicle, then, for the unmanned aerial vehicle, the identity information of the unmanned aerial vehicle, the maximum flying speed and/or the maximum flying height in the flying parameter information, and the hardware configuration information may be recorded in the memory before the unmanned aerial vehicle leaves the factory, or may be recorded by an owner of the unmanned aerial vehicle after the unmanned aerial vehicle leaves the factory, and then the owner information, the purchase time information, and the purchase location information of the unmanned aerial vehicle may be recorded after the unmanned aerial vehicle leaves the factory.

In above-mentioned supervision information, when unmanned aerial vehicle takes off, sensing system on the unmanned aerial vehicle can also acquire the position information when unmanned aerial vehicle takes off and save in the memory, if when unmanned aerial vehicle takes off, it is nearer apart from control terminal, then the position information when unmanned aerial vehicle takes off also can regard as control terminal's position information, otherwise, can be equipped with the locating device on the control terminal, so unmanned aerial vehicle can acquire the position information of control terminal's locating device output and save in the memory as control terminal's position information.

Furthermore, in addition to the body, the landing gear connected to the body, and the hardware configuration described above, the drone may be provided with other payloads, and specifically, the drone may be provided with different instruments for collecting visual data, such as various cameras for image and/or video capture, and depending on the type and use of the drone, the drone may be provided with payloads such as features related to agricultural tasks, transportation detection, sightseeing requests, and regions of interest, so as to implement functions related to the drone. Thus, hardware configuration information for the drone may also be stored in the memory of the drone to further characterize the relevant features of the drone.

2. The unmanned aerial vehicle can obtain supervision information from an external data source: wherein, on the one hand, unmanned aerial vehicle can acquire the supervisory information who uses unmanned aerial vehicle's uplink data to send in the working channel, under this condition, can gather unmanned aerial vehicle's supervisory information by control terminal, control terminal can utilize unmanned aerial vehicle's uplink data to send supervisory information to unmanned aerial vehicle for unmanned aerial vehicle can acquire the supervisory information that this control terminal sent. For example, can be equipped with sensing system on the control terminal, this sensing system can fix a position control terminal, and control terminal can use unmanned aerial vehicle's the last data of going up to send this control terminal's positional information to unmanned aerial vehicle after the positional information who acquires self sensing system collection.

On the other hand, optionally, the supervision information of the unmanned aerial vehicle may also be provided by the server or the cloud, that is, the control terminal may obtain the supervision information from the cloud or the server, and then the control terminal sends the supervision information to the unmanned aerial vehicle through the uplink data of the unmanned aerial vehicle. For example, unmanned aerial vehicle sends the identity serial number of oneself to control terminal, and control terminal sends the identity serial number to server or high in the clouds, and the server can transfer out unmanned aerial vehicle's monitoring information according to the identity serial number, for example unmanned aerial vehicle's owner information (register mailbox, phone), and the server sends supervisory information to control terminal, and unmanned aerial vehicle can follow control terminal and acquire supervisory information.

It can be understood that, in addition to the above-described cases, in practical applications, the acquisition of the supervision information may also be acquired by the unmanned aerial vehicle, and part of the supervision information is acquired from an external data source, which is not limited herein.

It should be noted that, in practical application, according to the actual requirement of the supervision information and the transmission time node of the supervision frame or the supervision subframe, the supervision information of the unmanned aerial vehicle may be acquired in real time, or may be acquired periodically, which is not limited herein.

302. Configuring the supervision information into a supervision frame or a supervision subframe according to a preset SDR technical specification;

in this embodiment, after the unmanned aerial vehicle acquires the supervision information of the unmanned aerial vehicle, the supervision information may be configured into a supervision frame or a supervision subframe according to a preset SDR technical specification.

Specifically, taking the supervision subframe as an example, assuming that the supervision information is configured as the supervision subframe according to the preset SDR specification, that is, in the original radio frame format of the SDR communication system of the drone, a supervision subframe may be created, as shown in fig. 4, the supervision subframe may include at least one DATA field (DATA), and the at least one DATA field may include the supervision information, where the number of the DATA fields may be set according to the DATA size of the supervision information, for example, if the DATA amount that can be carried by one DATA field is greater than or equal to the DATA amount of the supervision information, the supervision information may be inserted into one DATA field, or the supervision information may be split into multiple supervision information pieces, and at least one supervision information piece may be inserted into each of the multiple set DATA fields, and if the DATA amount that can be carried by one DATA field is smaller than the DATA size of the supervision information, the pieces of supervision information can be split into a plurality of pieces of supervision information and at least one piece of supervision information can be inserted in each of the set plurality of data fields.

Further, as shown in fig. 4, at least one reference field (RS0, RS1) may be further included in the supervision subframe, and the at least one reference field may be used for data synchronization with the supervision device of the drone, so that the supervision device may implement real-time supervision on the drone.

In practical applications, the preset SDR technical specification may be a technical specification specified by or known by the supervisory device of the drone, so that the supervisory device may acquire or demodulate the supervisory subframe according to the preset SDR technical specification, and meanwhile, the preset SDR technical specification may be a technical specification based on a TDD mode or an FDD mode, that is, a supervisory subframe configured by the supervisory information, which may meet a requirement of a frame structure when a communication mode of a communication network between the drone and the control terminal is the TDD mode or the FDD mode.

The preset SDR technical specification may include one or more of a preset working frequency band, a frequency point, a modulation mode, a data format, and a communication protocol. In this embodiment, the data field and/or the data field in the supervision subframe may be modulated according to a preset modulation scheme, and preferably, the modulation scheme of the data field and/or the data field may be quadrature phase shift keying QPSK.

It is understood that, in addition to the above-mentioned descriptions, the preset SDR technical specification in this embodiment may also include other contents, such as an encryption mode, in practical applications, and is not limited herein.

It should be noted that, in this embodiment, the description content of the supervision frame may refer to the supervision subframe, and is not described herein again.

303. Periodically setting time slices of a preset length by using a processor;

in this embodiment, after the unmanned aerial vehicle configures the supervision information into the supervision frame or the supervision subframe according to the preset SDR technical specification, the processor may be used to periodically set the time slice with the preset length.

Specifically, in order to benefit the supervision equipment, the supervision information of the unmanned aerial vehicle can be periodically acquired, the unmanned aerial vehicle can be supervised by the supervision information, and the unmanned aerial vehicle can utilize the processor to periodically set time slices with preset lengths. Based on fig. 4, taking the example that the supervision information is configured as the supervision subframe, as shown in fig. 5, in the original radio frame format of the SDR communication system of the drone, a time slice with a time length of T1 (the length of the time slice with the preset length) may be divided into a configuration period with T0 as the time slice with the preset length as the supervision subframe, for example, 1 millisecond is divided into a configuration period with 1 second as the supervision subframe, that is, in the original radio frame format, each time interval of T0 to T1 may be configured by the supervision information as a supervision subframe with a time slice with the preset length of T1, where the supervision subframe may be transmitted by downlink data, that is, the supervision subframe is transmitted by the drone, and the supervision subframe may also be transmitted by uplink data, which is not specifically limited herein. For convenience of description, the other subframes transmitted by the uplink data may be referred to as uplink subframes, and the other subframes transmitted by the downlink data may be referred to as downlink subframes, where the other subframes transmitted by the downlink data at least include image data information acquired by an image acquisition device on the drone. It will be appreciated that T1 may be located anywhere within T0, such as at the head end, but for the same drone the position of T1 is fixed to meet the periodic setting of T1, while for different drones the corresponding T1 positions may be inconsistent.

In practical applications, the length of the time slice with the preset length (T1) should meet the preset length requirement, and optionally, the ratio of the configuration period of the time slice with the preset length to the length of the time slice with the preset length may be greater than or equal to a preset threshold value so as not to affect the transmission of other subframes between the drone and the control terminal, for example, T0 may be 500 times or more of T1.

It can be understood that, in the TDD mode, since transceiving signals are performed in different time slots of the same frequency channel, other subframes may include an uplink subframe and a downlink subframe, while in the FDD mode, since transceiving signals are performed in two different frequency channels, when the supervision subframe is transmitted through downlink data, other subframes may include downlink subframes, and when the supervision subframe is transmitted through uplink data, other subframes may include uplink subframes. Therefore, based on the communication mode of the communication network between the drone and the control terminal, other subframes may be different in different communication modes. Meanwhile, the other subframes are not limited to be sent by the unmanned aerial vehicle, but also can be sent by a control terminal connected with the unmanned aerial vehicle, and the specific contents of the other subframes can be specifically determined according to a sending main body, which is not limited here.

304. And in a working channel of a communication network between the unmanned aerial vehicle and the control terminal, transmitting a supervision frame or a supervision subframe according to a preset SDR technical specification within a time slice with a preset length set periodically by using a transmitter.

In this embodiment, after the unmanned aerial vehicle periodically sets the time slice with the preset length by using the processor, the transmitter may be used to transmit the supervision frame or the supervision subframe according to the preset SDR technical specification within the periodically set preset length time in the working channel of the communication network between the unmanned aerial vehicle and the control terminal.

Specifically, in a channel list provided by a communication network between the drone and the control terminal, the drone may transmit a supervision frame or a supervision subframe in a periodically set time slice of a preset length by using the transmitter on any working channel on the channel list. However, different working channels have corresponding working states, the working states are inconsistent, and the quality of the working channels is inconsistent. Therefore, in order that the drone may transmit the supervision frame or the supervision subframe in the working channel with better channel quality, the drone may acquire, by using the processor, the working state of each of the plurality of working channels of the communication network between the drone and the control terminal.

In this embodiment, the operating state of the operating channel may at least include the current bandwidth of the operating channel. In practical application, each working channel equipped in a communication network between the unmanned aerial vehicle and the control terminal occupies a certain bandwidth, the bandwidths of the working channels are inconsistent, and the transmission rates of the working channels are also inconsistent. For example, assuming that the frequency band width of 5GHZ is 100MHZ in total, and the frequency band width is divided into 10 operating channels that do not interfere with each other on average, then the bandwidth of each operating channel is 10MHZ, and when there may be an overlap phenomenon between several operating channels, the frequency band width of 5GHZ may be divided into more than 10 operating channels that interfere with each other under the condition that the bandwidth of each operating channel is 10 MHZ. Therefore, based on the division of the working channels, the difference of the communication protocols, and the usage of the working channels, the drone may use the processor to obtain the current bandwidth of each of the plurality of working channels of the communication network between the drone and the control terminal, so as to make an appropriate selection of the plurality of working channels.

It is understood that, in addition to the current bandwidth of the working channel described above, in practical applications, the working state of the working channel in this embodiment may also include other parameters, such as the current capacity, the current throughput, the current error rate, and the like of the working channel, which is not limited herein.

Further, after the processor is used for acquiring the working state of each working channel in a plurality of working channels of a communication network between the unmanned aerial vehicle and the control terminal, the processor can be used for selecting one working channel for sending the supervision frame or the supervision subframe according to the working state. Specifically, after the unmanned aerial vehicle acquires the working state of each working channel in the plurality of working channels by using the processor, one working channel with the best working state can be selected as the working channel for sending the supervision frame or the supervision subframe. In practical application, the related parameters in the working state of each working channel may also be compared, so as to select one working channel with better related parameters from the multiple working channels as the working channel for sending the supervision frame or the supervision subframe, for example, select one working channel with a lower error rate at the present time of the working channel, or select one working channel with no overlapping state and the best working state as the working channel for sending the supervision frame or the supervision subframe, so as to reduce signal interference, or select one working channel with the largest bandwidth to send the supervision frame or the supervision subframe.

It can be understood that, in order to prevent the use of different devices from being repeated in a crossing manner and the use safety of the drone, in practical application, a suitable working channel should be selected within a frequency band range that the drone can use according to the specific use range and the used communication network of the drone, for example, the frequency bands of 840.5MHz to 845MHz, 1430MHz to 1444MHz, and 2408MHz to 2440MHz are planned in China for the unmanned aircraft system.

In view of the above selection of the working channel of the communication network between the drone and the control terminal, in this embodiment, the drone may utilize the transmitter to transmit the supervision frame or the supervision subframe in the selected working channel within a time slice of a preset length set periodically, and continue the contents explained in step 303, that is, the supervision frame or the supervision subframe is transmitted in T1 with a period of T0.

The transmission standard of the supervision frame or the supervision subframe can be according to a preset SDR technical specification, the preset SDR technical specification can be a technical specification designated by the supervision equipment of the unmanned aerial vehicle or known by the supervision equipment of the unmanned aerial vehicle, so that the supervision equipment can acquire or demodulate the supervision subframe according to the preset SDR technical specification, meanwhile, the preset SDR technical specification can be a technical specification based on a TDD mode or an FDD mode, namely, the supervision subframe configured by the supervision information can meet the transmission requirement when the communication mode of the communication network between the unmanned aerial vehicle and the control terminal is the TDD mode or the FDD mode.

The preset SDR technical specification may include one or more of a preset working frequency band, a frequency point, a modulation mode, a data format, and a communication protocol. For example, 2.4GHz may be used as an operating frequency band, 2414.5MHz, 2429.5MHz, 2444.5MHz, and 2459.5MHz may be used as frequency points, OFDM may be used as a modulation mode, a data format may include 6 data fields carrying 2 reference fields, and both the data fields and the reference fields may be modulated according to QPSK. It should be noted that, in this embodiment, specific values related to the preset SDR technical specification are only examples, and in practical application, other numerical content may also be used, and may be set according to actual supervision needs of the supervision device, and the specific values are not limited herein.

In practical applications, in addition to the transmission of the supervision frame or the supervision subframe in the time slice with the preset length, the unmanned aerial vehicle and the control terminal may perform other communications, for example, the control terminal may transmit the control instruction of the unmanned aerial vehicle by using uplink data of the unmanned aerial vehicle, and then the unmanned aerial vehicle may transmit other frames or other subframes in the time slice with the preset length by using the transmitter, that is, the frames or other subframes are transmitted in different time slots. Because other frames or other subframes are not changed in the original radio frame format of the SDR communication system of the drone, the other frames or other subframes may be sent using the original SDR technical specification of the drone, i.e., one or more of the working frequency band, frequency point, modulation mode, data format, and communication protocol of the supervisory frame or supervisory subframe may be different from the other frames or other subframes. Wherein, can include the working data information in other frames or other subframes, this working data information can include the image data information who is gathered by unmanned aerial vehicle image device at least, such as the photo information or the real-time video recording information of shooing by the camera on the unmanned aerial vehicle to make things convenient for the unmanned aerial vehicle user to unmanned aerial vehicle's operation, the frame structure of other frames or other subframes and carry other requirements such as content can refer to current SDR technique, and it is no longer repeated here.

It can be understood that, in practical applications, the sending of other frames or other subframes may not adopt the original SDR technical specification of the drone, for example, may adopt WI-FI technology or other customized communication protocols, and may also adopt the SDR technical specification consistent with the sending of the supervision frame or the supervision subframe, which is not limited herein.

Further, in this embodiment, the unmanned aerial vehicle may utilize the processor to set a protection time slot at a start position and/or an end position within a time slice of a preset length, based on fig. 5, a supervision subframe is taken as an example for explanation, as shown in fig. 6, a protection time slot may be set at both the start position and the end position of the supervision subframe, that is, the sum of the length of the time slice of the supervision subframe and the length of the time slice of the protection time slot may be T0, and the protection time slot is used for the unmanned aerial vehicle to complete switching between transmitting the supervision subframe and transmitting other subframes by using the transmitter, that is, sufficient time is reserved for radio frequency switching. Optionally, the guard time slot may be 150 microseconds to 300 microseconds. It should be noted that, in practical application, when the unmanned aerial vehicle is provided with multiple sets of radio frequency transceiver devices, if the radio frequency transceiver devices used for receiving and transmitting other frames or other subframes are different from those used for transmitting the supervision frame or the supervision subframe, the protection timeslot may not be set, and is not limited here.

Further, based on the description of the above embodiment, optionally, in the sending process of the supervision frame or the supervision subframe, in order to prevent the supervision frame or the supervision subframe from being damaged by the frame listening device other than the supervision device, which steals the supervision information of the drone, the safety protection of the supervision information of the drone may be enhanced.

Specifically, after the unmanned aerial vehicle acquires the supervision information, the processor can be used for encrypting the supervision information according to a preset encryption rule, and the encrypted supervision information can be configured into a supervision frame or a supervision subframe, so that the supervision frame or the supervision subframe cannot be analyzed to obtain the supervision information of the unmanned aerial vehicle even after the supervision frame or the supervision subframe is stolen. However, the preset encryption rule may be an encryption rule known by the supervisory device of the unmanned aerial vehicle, so that after the supervisory device scans data containing a supervisory frame or a supervisory subframe, the encrypted supervisory information may be decrypted by the known preset encryption rule, and the unmanned aerial vehicle is supervised by using the decrypted supervisory information.

It is to be understood that, in the present embodiment, the preset encryption rule for the supervision information may refer to the prior art, and is not described herein again.

Based on the embodiment shown in fig. 3, in this embodiment, in order to prevent collision of supervision frames or supervision subframes sent by different unmanned aerial vehicles, a frequency point of a supervision frame or supervision subframe sent in a time slice with a preset length may hop frequency at a selectable frequency point, please refer to fig. 7, where another embodiment of the control method in the embodiment of the present invention includes:

steps 701 to 703 in this embodiment are the same as steps 301 to 303 in the embodiment shown in fig. 3, and are not repeated here.

704. Determining a second frequency point different from the first frequency point;

in this embodiment, after the unmanned aerial vehicle periodically sets the time slice with the preset length by using the processor, the second frequency point different from the first frequency point may be determined, where the first frequency point may be the frequency point of the last supervision frame or the last supervision subframe sent.

Specifically, in order to avoid collision, the frequency points used for sending the adjacent supervision frames or supervision subframes may be inconsistent, that is, frequency hopping may occur, so that when a current supervision frame or supervision subframe is to be sent, a frequency point of a previous supervision frame or supervision subframe, that is, a first frequency point, may be determined first, and a second frequency point different from the first frequency point may be determined.

In practical application, a frequency hopping pattern can be preset, so that the unmanned aerial vehicle can determine a second frequency point different from the first frequency point according to the preset frequency hopping pattern, the preset frequency hopping pattern can be specified or known for the supervision equipment of the unmanned aerial vehicle, and the supervision equipment can acquire adjacent supervision frames or supervision subframes on the preset frequency point. Optionally, the preset frequency hopping pattern may be a randomly set frequency hopping pattern, for example, if there are 3 frequency points of 2414.5MHz, 2429.5MHz, and 2444.5MHz that can be used for frequency hopping selection, the 3 frequency points may be randomly set to be the preset frequency hopping pattern, optionally, the frequency hopping pattern determined according to the identification code of the unmanned aerial vehicle may be further set to be a frequency hopping pattern that is differentiated by the identification code of the unmanned aerial vehicle into a useful signal and an interfering signal, and frequency hopping may be performed when the unmanned aerial vehicle does not perform frequency hopping communication with the control terminal.

It is understood that, in addition to the above description, in practical applications, the predetermined frequency hopping pattern may be determined in other manners as long as the frequency hopping between adjacent supervision frames or supervision subframes can be satisfied, and is not limited herein.

705. And in a working channel of a communication network between the unmanned aerial vehicle and the control terminal, transmitting a supervision frame or a supervision subframe by using a transmitter on a second frequency point in a time slice with a periodically set preset length according to a preset SDR technical specification.

In this embodiment, after the second frequency different from the first frequency is determined, the supervision frame or the supervision subframe may be sent by the transmitter in a working channel of a communication network between the unmanned aerial vehicle and the control terminal on the second frequency according to a preset SDR technical specification in a time slice of a preset length set periodically.

In this embodiment, except for determining the frequency point corresponding to the supervision frame or the supervision subframe, other contents may refer to the contents explained in step 304 in the embodiment shown in fig. 3, and are not described herein again.

Wherein, when selecting a working channel for sending a supervision frame or a supervision subframe from a plurality of working channels configured in a communication network between the unmanned aerial vehicle and the control terminal, the working channel can be based on the second frequency point.

Secondly, sending on the preset frequency point

Referring to fig. 8, another embodiment of the method for controlling an unmanned aerial vehicle according to the embodiment of the present invention includes:

steps 801 to 802 in this embodiment are the same as steps 301 to 302 in the embodiment shown in fig. 3, and are not repeated here.

803. In a working channel of a communication network between the unmanned aerial vehicle and the control terminal, a transmitter is utilized to periodically transmit supervision frames or supervision subframes on a preset frequency point according to a preset SDR technical specification.

In this embodiment, after the unmanned aerial vehicle configures the supervision information into the supervision frame or the supervision subframe according to the preset SDR specification, the supervision frame or the supervision subframe may be periodically transmitted by using the transmitter according to the preset SDR specification at the preset frequency point in the working channel of the communication network between the unmanned aerial vehicle and the control terminal.

Unlike the step 304 in the embodiment shown in fig. 3, in the step 304, the supervision frame or the supervision subframe is sent within a time slice with a preset length that is periodically set, in this embodiment, the supervision frame or the supervision subframe is sent periodically at a preset frequency point, the length of the time slice for sending the supervision frame or the supervision subframe is not limited, and the preset frequency point may be a frequency point that is specified or known by the supervision device of the unmanned aerial vehicle, so as to facilitate the supervision device to obtain the supervision frame or the supervision subframe. Besides the transmission of the supervision frame or the supervision subframe on the preset frequency point, other communication can be performed between the unmanned aerial vehicle and the control terminal, if the control terminal can utilize uplink data of the unmanned aerial vehicle to realize the transmission of control instructions of the unmanned aerial vehicle, the unmanned aerial vehicle can utilize the transmitter to transmit other frames or other subframes at other frequency points except the preset frequency point, namely, the frames or other subframes are transmitted in different frequency channels, and the signal interference between the supervision frame or the supervision subframe and other frames or other subframes can be prevented.

In addition to the above, other contents in this embodiment may refer to a part of the contents described in step 304 in the embodiment shown in fig. 3, and are not described herein again.

Based on the embodiment shown in fig. 8, in this embodiment, in order to prevent collision of supervision frames or supervision subframes sent by different drones, the supervision frames or supervision subframes may be sent on multiple preset frequency points to perform frequency hopping on selectable frequency points, please refer to fig. 9, where another embodiment of the control method in the embodiment of the present invention includes:

steps 901 to 902 in this embodiment are the same as steps 301 to 302 in the embodiment shown in fig. 3, and are not described again here.

903. Determining a second preset frequency point different from the first preset frequency point in the plurality of preset frequency points;

in this embodiment, after the unmanned aerial vehicle configures the supervision information into the supervision frame or the supervision subframe according to the preset SDR technical specification, a second preset frequency point different from the first preset frequency point may be determined among the plurality of preset frequency points. And the first preset frequency point is the frequency point of the last supervision frame or the last supervision subframe sent.

Specifically, among the frequency points at which the unmanned aerial vehicle can transmit the supervision frame or the supervision subframe, multiple frequency points can be selected to be preset to multiple preset frequency points, so that the supervision frame or the supervision subframe can be transmitted at multiple preset frequency points, that is, the supervision frame or the supervision subframe transmitted each time can be selectively transmitted at one of the multiple preset frequency points, for example, the unmanned aerial vehicle can select one frequency point to transmit the supervision frame or the supervision subframe at 4 preset frequency points of 2414.5MHz, 2429.5MHz, 2444.5MHz and 2459.5MHz, and in order to avoid collision between supervision frames or supervision subframes transmitted by different unmanned aerial vehicles due to the fact that the corresponding supervision frame or supervision subframe is transmitted at the same frequency point with other unmanned aerial vehicles, when the current supervision frame or supervision subframe is to be transmitted, the unmanned aerial vehicle can determine the frequency point of the previous supervision frame or supervision subframe, that is the first preset, and a second preset frequency point different from the first preset frequency point can be determined in the plurality of preset frequency points.

In practical application, a frequency hopping pattern can be preset, so that the unmanned aerial vehicle can determine a second preset frequency point different from the first preset frequency point in the plurality of preset frequency points according to the preset frequency hopping pattern, the preset frequency hopping pattern can be designated or known for the supervision equipment of the unmanned aerial vehicle, and the supervision equipment can acquire adjacent supervision frames or supervision subframes on the preset frequency points. Optionally, this predetermined frequency hopping pattern can be obtained by a plurality of above-mentioned predetermined frequency point random settings, can also confirm according to unmanned aerial vehicle's identification code, and the frequency point in the frequency hopping pattern that confirms according to unmanned aerial vehicle's identification code can be a plurality of above-mentioned predetermined frequency points.

In this embodiment, the frequency points in the preset frequency hopping pattern may be all of the frequency points in the plurality of preset frequency points, or may be some of the frequency points in the plurality of preset frequency points, which is not limited herein.

904. And in a working channel of a communication network between the unmanned aerial vehicle and the control terminal, periodically transmitting a supervision frame or a supervision subframe by using a transmitter on a second preset frequency point according to a preset SDR technical specification.

In this embodiment, after the second preset frequency different from the first preset frequency is determined, in a working channel of a communication network between the unmanned aerial vehicle and the control terminal, the transmitter may be periodically used to transmit the supervision frame or the supervision subframe on the second preset frequency.

Under the condition that the preset frequency point is determined to be the second preset frequency point, the specific content in this embodiment may refer to the content described in the embodiment shown in fig. 8, which is not described herein again.

It should be noted that, based on the description of the foregoing embodiments, in practical applications, the embodiment shown in fig. 3, the embodiment shown in fig. 7, the embodiment shown in fig. 8, and the embodiment shown in fig. 9 may also be used in combination, that is, the supervision frame or the supervision subframe is sent within a time slice with a preset length and on a preset frequency point, different parts may refer to each other or select applications, and details are not described here.

In the above, the method for controlling an unmanned aerial vehicle in the embodiment of the present invention is described from the perspective of the side of the unmanned aerial vehicle or the control terminal, and in the following, the method for supervising an unmanned aerial vehicle in the embodiment of the present invention is described from the perspective of the side of the supervisory device, please refer to fig. 10, where an embodiment of the method for supervising an unmanned aerial vehicle in the embodiment of the present invention includes:

1001. scanning a working channel of a communication network between the unmanned aerial vehicle and the control terminal by using a detector to acquire data sent by the unmanned aerial vehicle;

in this embodiment, in order to acquire the supervision information of the unmanned aerial vehicle, the supervision device can be used to supervise the unmanned aerial vehicle, and the detector can be used to scan the working channel of the communication network between the unmanned aerial vehicle and the control terminal, so as to acquire the data sent by the unmanned aerial vehicle.

Specifically, the monitoring device may be provided with a detector, and the detector may cyclically scan on a working channel of a communication network between the drone and the control terminal to detect whether the drone transmits data including a monitoring frame or a monitoring subframe configured by the monitoring information in the working channel. Based on the flight control of the control terminal to the unmanned aerial vehicle and the flight characteristics of the unmanned aerial vehicle, the communication network between the unmanned aerial vehicle and the control terminal can be a wireless communication network. In practical applications, in order to facilitate the supervision of the drone by the supervision device, the communication network between the drone and the control terminal may be known to the supervision device. Therefore, the supervision device can scan a working channel of a known communication network by using the detector, and acquire data sent by the unmanned aerial vehicle in the working channel.

It can be understood that, in this embodiment, the communication connection between the unmanned aerial vehicle and the control terminal may be based on the SDR technology, and the supervisory device may scan the working channel of the communication network of the unmanned aerial vehicle and the control terminal based on the SDR technology, and in practical application, the unmanned aerial vehicle and the control terminal may also establish connection based on other communication technologies, such as any one of a customized modulation method or a communication protocol, and the specific method is not limited herein.

1002. Determining, with a processor, a supervision frame or a supervision subframe from data;

in this embodiment, the supervisory device scans a working channel of a communication network between the unmanned aerial vehicle and the control terminal by using the detector, and after acquiring data sent by the unmanned aerial vehicle, may determine a supervisory frame or a supervisory subframe from the data by using the processor.

Specifically, because the supervision frame or the supervision subframe is a frame or a subframe that the unmanned aerial vehicle itself creates, when the unmanned aerial vehicle sends the supervision frame or the supervision subframe, the unmanned aerial vehicle can also transmit communication data with the control terminal, therefore, in a working channel of a communication network between the unmanned aerial vehicle and the control terminal, other frames or other subframes except the supervision frame or the supervision frame may be included, that is, data of the unmanned aerial vehicle may be the supervision frame or the supervision subframe and other frames or other subframes corresponding to the supervision frame or the supervision subframe, and since the supervision frame or the supervision subframe only carries supervision information required by the supervision device, the supervision device needs to determine the supervision frame or the supervision subframe from data sent by the unmanned aerial vehicle by using the processor, so as to obtain the supervision information of the unmanned aerial vehicle.

1003. And acquiring the supervision information of the unmanned aerial vehicle from the supervision frame or the supervision subframe by using the processor.

In this embodiment, after the supervision device determines the supervision frame or the supervision subframe from the data by using the processor, the processor may be used to demodulate the acquired supervision frame or the supervision subframe to acquire the supervision information of the unmanned aerial vehicle in the supervision frame or the supervision subframe, so that the relevant parameters of the unmanned aerial vehicle can be known by the acquired supervision information of the unmanned aerial vehicle, and the supervision of the unmanned aerial vehicle is realized.

It can be understood that, in the embodiment of the present invention, based on a manner that the unmanned aerial vehicle sends the supervision frame or the supervision subframe within a time slice of a preset length and/or on a preset frequency point, the supervision device may obtain the supervision information of the unmanned aerial vehicle based on a corresponding manner, which is specifically described below:

referring to fig. 11, another embodiment of the method for supervising an unmanned aerial vehicle according to the embodiment of the present invention includes:

1101. scanning a plurality of working channels of a communication network between the unmanned aerial vehicle and the control terminal by using a detector;

in this embodiment, after the supervision device is started, a plurality of working channels of the communication network between the unmanned aerial vehicle and the control terminal can be scanned by using the detector.

Specifically, after unmanned aerial vehicle and control terminal establish communication connection, the communication network that corresponds can have a plurality of working channels and supply transmission data between unmanned aerial vehicle and the control terminal, because unmanned aerial vehicle mostly is adopting point-to-point communication, the used working channel of each unmanned aerial vehicle so may have the difference, and it specifically uses a certain working channel not clear unmanned aerial vehicle, then under the more condition of working channel figure, supervisory equipment can utilize the detector to scan a plurality of working channels, with the mode of covering through adopting a plurality of receiving channel sub-frequency bands, guarantee capture time and satisfy the requirement of supervision, the realization is to the supervision of one or more unmanned aerial vehicle. In practical applications, the manner in which the supervisory device scans a plurality of operating channels with the probe may be different, specifically as follows:

1. scanning a plurality of working channels of a communication network between the unmanned aerial vehicle and the control terminal by using a detector in turn: the monitoring device is provided with a detector, and the detector can perform cyclic scanning on a plurality of working channels in turn, for example, if the communication network between the unmanned aerial vehicle and the control terminal is assumed to be based on, the working channels that the unmanned aerial vehicle can use are working channel 1, working channel 2 and working channel 3, then the monitoring device can perform cyclic scanning on working channel 1, working channel 2 and working channel 3 in turn by using the detector.

2. Assigning a plurality of working channels to a plurality of detectors, each of the plurality of detectors scanning a predetermined number of working channels: supervisory equipment can be equipped with a plurality of detectors, and the working channel of predetermineeing the number can be scanned to each detector to the scanning to a plurality of channels is realized, for example, supposing based on the communication network between unmanned aerial vehicle and the control terminal, a plurality of working channel that unmanned aerial vehicle can use are 10 working channel, has 5 detectors on the supervisory equipment, and then each detector can scan 2 working channel respectively in turn. It should be noted that, in this embodiment, when there are multiple detectors, the preset number of working channels scanned by each detector may be inconsistent, for example, one detector may scan 2 working channels in turn, and another detector may scan 3 working channels in turn, which is merely an example and is not limited herein.

Based on the second scanning manner, further, in this embodiment, the multiple detectors may be disposed on one monitoring device, the multiple detectors may be configured in different areas, and the multiple detectors may be connected with the processor of the monitoring device through a wired or wireless connection.

In addition, through the sub-band coverage of a plurality of detectors, the time for capturing data containing supervision frames or supervision subframes by receiving supervision equipment can be shortened, a redundant backup function can be realized, and under the condition that a receiving channel of one detector is damaged, the receiving channels of the rest detectors can be used for realizing full-band coverage, so that the reliability of the supervision equipment is improved.

Wherein, the limit flight district is the region of restriction unmanned aerial vehicle flight, specifically can refer to current specification, and this is no longer repeated here.

1102. Acquiring data sent by an unmanned aerial vehicle;

in this embodiment, after the supervisory device scans a plurality of working channels of the communication network between the unmanned aerial vehicle and the control terminal by using the detector, if data sent by the unmanned aerial vehicle is scanned, the data sent by the unmanned aerial vehicle can be acquired by using the detector.

Specifically, based on part of the content explained in step 1002 in the embodiment shown in fig. 10, the data sent by the drone may include a supervision frame or a supervision subframe and other frames or other subframes besides the supervision frame or the supervision subframe. The other frames or other subframes transmitted by the uplink data at least include control instructions for the drone, and the other frames or other subframes transmitted by the uplink data are transmitted by the control terminal, and in addition, the other frames or other subframes may also be transmitted by the downlink data, and the other frames or other subframes transmitted by the downlink data at least include work data information of the drone, and the work data information may at least include image data information acquired by an imaging device on the drone, such as photo information or real-time video information captured by a camera on the drone, and the other frames or other subframes are transmitted by the drone.

It can be understood that, since the supervision frame or the supervision subframe may be sent by the unmanned aerial vehicle within a time slice of a preset length that is periodically set and/or periodically sent on a preset frequency point, the supervision device may periodically acquire data of the unmanned aerial vehicle by using the detector, and in practical application, the supervision device may also acquire data of the unmanned aerial vehicle in real time by using the detector, which is not limited herein.

Further, since the drone may transmit the supervision frame or the supervision subframe according to the preset SDR specification standard, and optionally, other frames or other subframes other than the supervision frame or the supervision subframe may be transmitted according to an SDR specification different from the preset SDR specification, one or more of a working frequency band, a frequency point, a modulation mode, a data format, and a communication protocol between the supervision frame or the supervision subframe and the other frames or other subframes may be different, so that the supervision device may obtain the supervision frame or the supervision subframe according to a known or specified preset SDR specification, and may obtain other frames or other subframes other than the supervision frame or the supervision subframe according to a known or specified SDR specification different from the preset SDR specification.

Furthermore, since the preset SDR technical specification may be a technical specification based on a TDD mode or an FDD mode, the supervisory device may acquire data of the drone based on the TDD mode or the FDD mode, that is, acquire data of the drone at different time slots in the same working channel or acquire data of the drone at different working channels according to a mode that the drone transmits a supervisory frame or a supervisory subframe.

1103. Determining a supervision frame or a supervision subframe from the data using the at least one reference field;

in this embodiment, after acquiring the data sent by the drone, the supervisory device may determine a supervisory frame or a supervisory subframe from the data by using at least one reference field.

Specifically, in the data of the drone, the supervision frame or the supervision subframe is a frame or a subframe that the drone itself creates based on the SDR technology, and other frames or other subframes other than the supervision frame or the supervision subframe are original wireless frames, i.e., normal frames or subframes, of the drone based on the SDR technology. If the at least one reference field is used as a special field for identifying the supervision frame or the supervision subframe, the supervision device may determine the supervision frame or the supervision subframe from the data according to the at least one reference field after acquiring the data of the drone.

Further, in order to avoid collision, when the unmanned aerial vehicle sends the supervision frames or the supervision subframes, the sending frequency points between two adjacent supervision frames or the supervision subframes are inconsistent, so that when the supervision equipment obtains two adjacent supervision frames or the supervision subframes, the supervision equipment can scan in a working channel where the sending frequency points corresponding to the two adjacent supervision frames or the supervision subframes are located by using a detector, so as to obtain data, which are obtained at different frequency points and sent by the same unmanned aerial vehicle, of the unmanned aerial vehicle, and the data can include two adjacent supervision frames or the supervision subframes. The unmanned aerial vehicle can send two adjacent supervision frames or supervision subframes according to a preset frequency hopping pattern, the preset frequency hopping pattern can be designated or known for the supervision equipment, so that the supervision equipment can predict the sending frequency point of the next supervision frame or supervision subframe according to the sending frequency point of the determined last supervision frame or supervision subframe and the preset frequency hopping pattern, and can acquire data comprising the next supervision frame or supervision subframe according to the predicted sending frequency point.

Optionally, the preset frequency hopping pattern in this embodiment may be a randomly set frequency hopping pattern, or a frequency hopping pattern determined according to the identity code of the unmanned aerial vehicle, and the specific content may refer to the content described above, which is not described herein again.

1104. And synchronizing the data field in the supervision frame or the supervision subframe according to the reference field, and demodulating the supervision information from the data field.

In this embodiment, after the monitoring device determines the monitoring frame or the monitoring subframe from the data by using at least one reference field, the data field in the monitoring frame or the monitoring subframe may be synchronized according to the reference field, and the monitoring information may be demodulated from the data field.

Specifically, the supervision frame or the supervision subframe may further include at least one data field, which may include supervision information, in addition to the at least one reference field. In practical applications, since the reference field has a characteristic obviously different from that of the data field, when the supervisory device identifies the reference field, not only the supervisory frame or the supervisory subframe can be determined therefrom, but also the synchronization of the data field in the supervisory frame or the supervisory subframe is completed, i.e. the start position and the end position of the data field are determined, as shown in fig. 4. Therefore, the supervising device can correctly solve the data field from the supervising frame or the supervising subframe according to the reference field, and can acquire the supervising information in the data field.

It is understood that when the supervision information is split into a plurality of pieces of supervision information inserted in a plurality of corresponding data fields, the plurality of pieces of supervision information may be combined to obtain the complete supervision information.

In practical applications, since the supervision frame or the supervision subframe may be configured by the supervision information according to a preset SDR specification, when the supervision frame or the supervision subframe is demodulated to obtain the supervision information, the supervision device may demodulate the supervision frame or the supervision subframe according to the preset SDR specification, for example, when a modulation mode of a data field and/or a reference field in the supervision frame or the supervision subframe is QPSK, the supervision device may demodulate a data field by using a demodulation mode corresponding to QPSK to obtain the supervision information in the data field.

In this embodiment, the monitoring information of the drone acquired by the monitoring device may include, but is not limited to, one or more of identity information, location information, flight parameter information, flight attitude information, owner information, purchase time information, purchase location information, historical flight trajectory information, hardware configuration information, check bit information of the drone, and location information of the control terminal. Through the acquisition to supervision information, supervisory equipment can know unmanned aerial vehicle's relevant parameter, realizes the supervision to unmanned aerial vehicle better, for example, through the positional information who acquires unmanned aerial vehicle in the supervision information, can realize the location to unmanned aerial vehicle.

Further, based on the description of the above embodiment, optionally, the supervisory equipment may be provided with a display, and the supervisory information of the unmanned aerial vehicle may be displayed on the display, so as to visually and clearly represent the information of the relevant parameters of the unmanned aerial vehicle to the supervisory user. It is understood that the manner of displaying the supervision information on the display may be various, such as a list, and is not limited herein.

Furthermore, after the supervision equipment acquires the supervision information, the risk level of the unmanned aerial vehicle can be further evaluated by the processor according to the supervision information, so that different emergency measures can be formulated or started according to the risk level of the unmanned aerial vehicle, and the unmanned aerial vehicle with different risk levels can be distinguished and safely supervised.

Specifically, the risk level may be used to describe the current safety level of the drone, and the higher the risk level, the greater the security threat of the drone will be. In this implementation, supervisory equipment can utilize the treater to confirm the positional information of unmanned aerial vehicle in the supervisory information, and can utilize positional information to assess unmanned aerial vehicle's danger level, for example, the treater can further confirm unmanned aerial vehicle's flight path according to unmanned aerial vehicle's positional information, then through the analysis to unmanned aerial vehicle's flight path and with the contrast of preset flight path, can judge whether unmanned aerial vehicle deviates from preset flight path, if the degree of deviation is bigger, danger level is higher, like the treater can carry out intrusion detection such as limit flight district to unmanned aerial vehicle according to unmanned aerial vehicle's positional information again, if unmanned aerial vehicle is closer to limit flight district, danger level will be higher.

It should be noted that, in this embodiment, the manner that the monitoring device determines the risk level of the drone by using the processor may be other than the content described above, and in practical applications, as long as the risk level of the drone can be evaluated, for example, because the detector may be configured in different areas, the processor may be used to acquire the position of the detector that detects the drone to determine whether the drone is located in, for example, an illegal operation area, so as to evaluate the risk level of the drone, which is not limited herein.

It can be understood, in practical application, can also be equipped with the remote supervision platform with supervisory equipment communication connection, as shown in fig. 12, assume that there is unmanned aerial vehicle 1, unmanned aerial vehicle 2, unmanned aerial vehicle 3, it corresponds, there can be control terminal 1 with unmanned aerial vehicle 1 communication connection, control terminal 2 with unmanned aerial vehicle 2 communication connection, control terminal 3 with unmanned aerial vehicle 3 communication connection, and supervisory equipment 1 of supervision unmanned aerial vehicle 1, supervisory equipment 2 of supervision unmanned aerial vehicle 2, supervisory equipment 3 of supervision unmanned aerial vehicle 3, then supervisory equipment 1, supervisory equipment 2, supervisory equipment 3 all can with remote supervision platform communication connection, this remote supervision platform can acquire the supervisory information that a plurality of supervisory equipment obtained, in order to realize the total supervision to a plurality of unmanned aerial vehicles. Therefore, based on the embodiment shown in fig. 11, referring to fig. 13, another embodiment of the unmanned aerial vehicle monitoring method in the embodiment of the present invention includes:

steps 1301 to 1304 in this embodiment are the same as steps 1101 to 1104 in the embodiment shown in fig. 11, and are not repeated here.

1305. And sending the supervision information to a remote supervision platform by using the processor.

In this embodiment, after the supervision device demodulates the supervision information of the unmanned aerial vehicle from the supervision frame or the supervision subframe by using the processor, the supervision information can be sent to the remote supervision platform by using the processor.

Specifically, the supervision device demodulates the supervision frame or the supervision subframe by using the processor, and after the supervision information is obtained, the processor can be used for further sending the supervision information to the remote supervision platform, so that the unified management of the remote supervision platform on the supervision device is realized, and the remote supervision on the unmanned aerial vehicle can be realized. Further, in this embodiment, in order to enhance the security protection of the monitoring information of the unmanned aerial vehicle, optionally, the unmanned aerial vehicle may encrypt the monitoring information of the unmanned aerial vehicle by using a preset encryption rule, and may configure the encrypted monitoring information into a monitoring frame or a monitoring subframe, so that after the monitoring device acquires the monitoring frame or the monitoring subframe, if the monitoring information in the monitoring frame or the monitoring subframe is detected as the encryption information, the monitoring information may be decrypted by using a preset decryption rule (the preset decryption rule may be set according to the encryption rule preset by the monitoring information), and the decrypted monitoring information is sent to the remote monitoring platform.

It can be understood that, in the present embodiment, for the preset decryption rule of the monitoring information, reference may be made to the prior art corresponding to the preset encryption rule of the monitoring information, and details are not described here again.

In the above, the unmanned aerial vehicle control method and the unmanned aerial vehicle monitoring method in the embodiment of the present invention are described, and the control device and the monitoring device in the embodiment of the present invention are respectively described from the perspective of hardware processing, please refer to fig. 14, where an embodiment of the control device in the embodiment of the present invention includes:

a transmitter 1401 and a processor 1402 (wherein the number of processors 1402 may be one or more, and one processor 1402 is taken as an example in fig. 14).

The processor 1402 is configured to obtain the monitoring information of the drone, and configure the monitoring information into a monitoring frame or a monitoring subframe;

and a transmitter 1401, configured to send a supervision frame or a supervision subframe in a time slice with a preset length and/or on a preset frequency point in a working channel of a communication network between the unmanned aerial vehicle and the control terminal.

Optionally, in some embodiments of the present invention, the processor 1402 may further be configured to:

configuring the supervision information into a supervision frame or a supervision subframe according to a preset SDR technical specification;

optionally, in some embodiments of the present invention, the transmitter 1401 may further be configured to:

and transmitting a supervision frame or a supervision subframe by using a transmitter in a time slice with a preset length and/or on a preset frequency point according to a preset SDR technical specification.

periodically setting time slices of a preset length by using a processor;

the transmitter 1401, may be further configured to:

and transmitting the supervision frame or the supervision subframe in a time slice with a preset length set periodically by using the transmitter.

other frames or other subframes are transmitted outside a time slice of a preset length.

and setting a protection time slot at the starting position and/or the ending position in a time slice with a preset length, wherein the protection time slot is used for finishing switching between transmitting the supervision frame or the supervision subframe and transmitting other frames or other subframes by using the transmitter.

Optionally, in some embodiments of the present invention, the processor 1401 may further be configured to:

determining a second frequency point different from the first frequency point;

the transmitter 1401, may be further configured to: transmitting a supervision frame or a supervision subframe in a time slice with a preset length on a second frequency point;

and the first frequency point is the frequency point of the last supervision frame or the last supervision subframe sent.

and determining a second frequency point different from the first frequency point according to a preset frequency hopping pattern, and sending a supervision frame or a supervision subframe in a time slice with a preset length on the second frequency point.

and periodically transmitting a supervision frame or a supervision subframe on a preset frequency point.

and sending other frames or other subframes at other frequency points except the preset frequency point.

and transmitting the supervision frame or the supervision subframe on a plurality of preset frequency points.

determining a second preset frequency point different from the first preset frequency point in the plurality of preset frequency points;

the transmitter 1401, may be further configured to:

transmitting a supervision frame or a supervision subframe on a second preset frequency point;

and the first preset frequency point is the frequency point of the last supervision frame or the last supervision subframe sent.

and determining a second preset frequency point different from the first preset frequency point in the plurality of preset frequency points according to a preset frequency hopping pattern, and sending a supervision frame or a supervision subframe on the second preset frequency point.

encrypting the supervision information according to a preset encryption rule, wherein the preset encryption rule is an encryption rule known by supervision equipment of the unmanned aerial vehicle;

configuring the encrypted supervision information into a supervision frame or a supervision subframe.

In this embodiment, after the processor 1402 configures the acquired monitoring information of the drone into a monitoring frame or a monitoring subframe, the transmitter 1401 may transmit the monitoring frame or the monitoring subframe within a time slice of a preset length and/or on a preset frequency point in a working channel of a communication network between the drone and the control terminal, and thus it can be known that the monitoring frame or the monitoring subframe is created by using the SDR technology to perform software definition flexibility, which can overcome adverse effects caused by variability of communications of the drone based on the existing SDR technology, and without increasing hardware cost, that is, the monitoring device can obtain the monitoring information of the drone by acquiring the monitoring frame or the monitoring subframe transmitted by the transmitter 1401, and realize monitoring of the drone.

An embodiment of the present invention further provides an unmanned aerial vehicle, where the unmanned aerial vehicle includes:

the control device of any one of the above.

Specifically, the power system of the unmanned aerial vehicle can include: motor, electricity accent, screw etc, wherein unmanned aerial vehicle can also include payload, for example imaging device, infrared imager etc. wherein payload can be connected with unmanned aerial vehicle through bearing the piece, wherein bears the piece and can be the cloud platform.

Referring to fig. 15, an embodiment of the monitoring device in the embodiment of the present invention includes:

a detector 1501 and a processor 1502 (wherein, the number of the processors 1502 may be one or more, and one processor 1502 is taken as an example in fig. 15).

The detector 1501 is configured to scan a working channel of a communication network between the unmanned aerial vehicle and the control terminal, and acquire data sent from the unmanned aerial vehicle;

a processor 1502 for determining a supervision frame or supervision subframe from data; and acquiring the supervision information of the unmanned aerial vehicle from the supervision frame or the supervision subframe.

Optionally, in some embodiments of the present invention, at least one reference field is included in the supervision subframe or in the supervision frame;

the processor 1502 may be further configured to:

determining a supervision frame or a supervision subframe from the data using the at least one reference field.

Optionally, in some embodiments of the present invention, the processor 1502 may be further configured to:

and synchronizing the data field in the supervision frame or the supervision subframe according to the reference field, and demodulating the supervision information from the data field.

Optionally, in some embodiments of the present invention, the detector 1501 may be further configured to:

a plurality of working channels of a communication network between the drone and the control terminal are scanned.

Optionally, in some embodiments of the present invention, the number of the probes 1501 is one, and one probe 1501 may be further configured to:

a plurality of working channels of a communication network between the drone and the control terminal are scanned in turn.

Optionally, in some embodiments of the present invention, the number of the detectors 1501 is multiple, and the processor 1502 may further be configured to:

assigning a plurality of operating channels to a plurality of probes;

each of the plurality of probes 1501 may be further configured to:

scanning a preset number of working channels.

Optionally, in some embodiments of the present invention, as shown in fig. 16, the supervising device may further include a display 1503, the display 1503 being operable to:

and displaying the supervision information.

and sending the supervision information to a remote supervision platform.

and decrypting the supervision information according to a preset decryption rule, and sending the decrypted supervision information to a remote supervision platform.

In this embodiment, the supervisory device scans the working channel of the communication network between the drone and the control terminal by using the detector 1501, and after acquiring data sent by the drone, the processor 1502 can be used to acquire the supervisory information of the drone from the supervisory frame or supervisory subframe in the data.

It is understood that the present invention may also relate to a surveillance system comprising a drone, a control terminal in communication with the drone, and a surveillance device for supervising the drone, and optionally may further comprise a remote surveillance platform in communication with the surveillance device. Wherein, control terminal can be used for sending control command to unmanned aerial vehicle, and unmanned aerial vehicle can fly according to received control command control, and supervisory equipment can be used for acquireing the communication data between unmanned aerial vehicle and the control terminal to realize the supervision to unmanned aerial vehicle, long-range supervision platform then can be used for managing one or more supervisory equipment, and long-range supervision one or more unmanned aerial vehicle.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A method of drone control, the method comprising:

in a working channel of a communication network between the unmanned aerial vehicle and the control terminal, the supervision frame or the supervision subframe is sent in a time slice with a preset length and/or on a preset frequency point by using a transmitter, so that a supervision device scans the working channel of the communication network between the unmanned aerial vehicle and the control terminal by using a detector, determines the supervision frame or the supervision subframe from the working channel by using a processor, and acquires supervision information of the unmanned aerial vehicle from the supervision frame or the supervision subframe by using the processor.

2. The method of claim 1, wherein the configuring the supervision information into a supervision frame or a supervision subframe comprises:

and configuring the supervision information into a supervision frame or a supervision subframe according to a preset SDR technical specification.

3. The method according to claim 1, wherein the transmitting the supervision frame or the supervision subframe by using a transmitter in a time slice with a preset length and/or on a preset frequency point comprises:

and transmitting the supervision frame or the supervision subframe by using a transmitter in a time slice with a preset length and/or on a preset frequency point according to a preset SDR technical specification.

4. The method of claim 2 or 3, wherein the preset SDR specification is a specification specified by or known to the drone's regulatory device.

5. The method according to claim 2 or 3, wherein the predefined SDR specification is a specification based on TDD mode or FDD mode.

6. The method according to any of claims 1 to 3, wherein the supervision frame or the supervision subframe comprises at least one data field, the supervision information being comprised in the at least one data field.

7. The method of claim 6, wherein the supervision frame or the supervision subframe further comprises at least one reference field for data synchronization with a supervision device of the drone.

8. The method according to claim 7, wherein the modulation scheme of the data field and/or the reference field is Quadrature Phase Shift Keying (QPSK).

9. The method according to any of claims 1 to 3, wherein the transmitting, with a transmitter, a supervision frame or the supervision subframe within a time slice of a preset length comprises:

periodically setting time slices of a preset length by using a processor;

transmitting the supervision frame or the supervision subframe within the periodically set time slice of the preset length by using a transmitter.

10. The method of claim 9, wherein the length of the time slice of the preset length satisfies a preset length requirement.

11. The method of claim 10, wherein the predetermined length of the time slice satisfies a predetermined length requirement comprises:

the ratio of the configuration period of the time slices with the preset length to the length of the time slices with the preset length is greater than or equal to a preset threshold value.

12. The method of claim 1, further comprising:

transmitting, with the transmitter, other frames or other subframes outside of the time slice of the preset length.

13. The method of claim 12, further comprising:

and setting a protection time slot at the starting position and/or the ending position in the time slice with the preset length, wherein the protection time slot is used for finishing the switching between the transmission of the supervision frame or the supervision subframe and the transmission of other frames or other subframes.

14. The method of any of claims 1 to 3, wherein said transmitting, with a transmitter, the supervision frame or the supervision subframe within a time slice of a preset length comprises:

determining a second frequency point different from the first frequency point, and transmitting the supervision frame or the supervision subframe in a time slice with a preset length by using a transmitter on the second frequency point;

15. The method of claim 14, wherein determining a second frequency point different from the first frequency point, and wherein transmitting the supervision frame or the supervision subframe by a transmitter in a time slice of a preset length on the second frequency point comprises:

and determining a second frequency point different from the first frequency point according to a preset frequency hopping pattern, and transmitting the supervision frame or the supervision subframe in a time slice with a preset length by using a transmitter on the second frequency point.

16. The method according to any one of claims 1 to 3, wherein the transmitting the supervision frame or the supervision subframe on a preset frequency point by using a transmitter comprises:

and periodically transmitting the supervision frame or the supervision subframe on a preset frequency point by using a transmitter.

17. The method of claim 1, further comprising:

and sending other frames or other subframes by using the transmitter at other frequency points except the preset frequency point.

18. The method according to any one of claims 1 to 3, wherein the transmitting the supervision frame or the supervision subframe on a preset frequency point by using a transmitter comprises:

and transmitting the supervision frame or the supervision subframe on a plurality of preset frequency points by using a transmitter.

19. The method of claim 18, wherein the transmitting, by the transmitter, the supervision frames or the supervision subframes on the plurality of preset frequency points comprises:

determining a second preset frequency point different from the first preset frequency point in the plurality of preset frequency points, and transmitting the supervision frame or the supervision subframe on the second preset frequency point by using a transmitter;

20. The method according to claim 19, wherein the determining a second predetermined frequency point different from the first predetermined frequency point among the plurality of predetermined frequency points, and the transmitting the supervision frame or the supervision subframe by using a transmitter on the second predetermined frequency point comprises:

and determining a second preset frequency point different from the first preset frequency point in the plurality of preset frequency points according to a preset frequency hopping pattern, and transmitting the supervision frame or the supervision subframe on the second preset frequency point by using a transmitter.

21. The method according to claim 12 or 17, wherein the other frames or other subframes comprise working data information.

22. The method of claim 21, wherein the working data information includes at least image data information acquired by a drone imaging device.

23. The method according to claim 12 or 17, wherein one or more of an operating frequency band, a frequency point, a modulation mode, a data format, and a communication protocol of the supervision frame or the supervision subframe is different from that of the other frame or the other subframe.

24. The method according to claim 15 or 20, wherein the predetermined hopping pattern is a randomly arranged hopping pattern.

25. The method of claim 15 or 20, wherein the predetermined hopping pattern is a hopping pattern determined according to an identification code of the drone.

26. The method according to any one of claims 1 to 3, further comprising:

encrypting the supervision information by using the processor according to a preset encryption rule, wherein the preset encryption rule is an encryption rule known by supervision equipment of the unmanned aerial vehicle;

wherein the configuring the supervision information into a supervision frame or a supervision subframe comprises:

27. The method of any one of claims 1, 2, 3, 12, 13, or 17, wherein the regulatory information includes one or more of identity information, location information, flight parameter information, flight attitude information, owner information, time of purchase information, place of purchase information, historical flight trajectory information, hardware configuration information, check digit information of the drone, and location information of the control terminal.

28. The method of claim 27, wherein the identity information comprises a vendor identifier and a model of the drone;

the position information of the unmanned aerial vehicle comprises at least one of current position information of the unmanned aerial vehicle and position information of the unmanned aerial vehicle during takeoff;

the flight parameter information comprises at least one of a maximum flight speed, a maximum flight altitude and a current flight speed;

the flight attitude information comprises at least one of roll angle, pitch angle and yaw angle;

the hardware configuration information includes at least configuration information of a payload of the drone;

the check bit information is a Cyclic Redundancy Check (CRC) check code;

the position information of the control terminal comprises at least one of position information of the unmanned aerial vehicle during takeoff and position information output by positioning equipment on the control terminal.

29. An unmanned aerial vehicle supervision method applied to supervision equipment, wherein the supervision equipment comprises a detector and a processor, and is characterized by comprising the following steps:

scanning a working channel of a communication network between the unmanned aerial vehicle and the control terminal by using the detector, and acquiring data sent by the unmanned aerial vehicle;

determining, with the processor, a supervision frame or a supervision subframe from the data, wherein the supervision frame or the supervision subframe contains supervision information of the drone;

acquiring, by the processor, the supervision information of the drone from the supervision frame or supervision subframe.

30. The method of claim 29, wherein the supervision frame or supervision subframe is sent by the drone in accordance with SDR specifications.

31. The method of claim 29, wherein the supervision frame or supervision subframe comprises at least one data field, and wherein the supervision information is included in the at least one data field.

32. The method of claim 31, wherein at least one reference field is included in the supervision subframe or in a supervision frame;

the determining, with the processor, a supervision frame or a supervision subframe from the data includes:

33. The method of claim 32,

the obtaining, with the processor, the regulatory information of the drone from the regulatory frame or the regulatory subframe includes:

synchronizing data fields in the supervision frame or the supervision subframe according to the reference fields, and demodulating the supervision information from the data fields.

34. The method of claim 32, wherein the data field and/or the reference field are modulated by Quadrature Phase Shift Keying (QPSK).

35. The method according to any of the claims 29 to 34, wherein further frames or other subframes than the supervision frame or supervision subframe are included in the data.

36. The method of claim 35, wherein the other frames or the other subframes comprise working data information.

37. The method of claim 36, wherein the working data information includes at least image data information acquired by an imaging device on the drone.

38. The method of claim 35, wherein one or more of an operating frequency band, a frequency point, a modulation scheme, a data format, and a communication protocol of the supervision frame or the supervision subframe is different from the other frame or the other subframe.

39. The method of any of claims 29 to 34, wherein two adjacent supervision frames or supervision subframes are transmitted on different frequency points for the drone.

40. The method of claim 39, wherein the two adjacent supervision frames or supervision subframes are transmitted on different frequency points for the UAV, and wherein the method comprises:

and two adjacent supervision frames or supervision subframes are sent for the unmanned aerial vehicle according to a preset frequency hopping pattern in a frequency hopping mode.

41. The method of claim 40, wherein the predetermined hopping pattern is a randomly configured hopping pattern.

42. The method of claim 40, wherein the predetermined hopping pattern is a hopping pattern determined according to an identification code of the drone.

43. The method of any one of claims 29 to 34, wherein the scanning, with the probe, an operating channel of a communication network between the drone and the control terminal comprises:

a plurality of working channels of a communication network between the drone and the control terminal are scanned with the probe.

44. The method of claim 43, wherein the number of probes is one, and wherein scanning, with the probes, the plurality of working channels of the communication network between the drone and the control terminal comprises:

and scanning a plurality of working channels of a communication network between the unmanned aerial vehicle and the control terminal by utilizing one detector in turn.

45. The method of claim 43, wherein the number of probes is plural, and wherein scanning, with the probes, a plurality of operating channels of a communication network between the drone and the control terminal comprises:

the plurality of operating channels are assigned to a plurality of the detectors, each of the plurality of detectors scanning a predetermined number of operating channels.

46. The method of any one of claims 29 to 34, further comprising,

and displaying the supervision information.

47. The method of any one of claims 29 to 34, further comprising:

and transmitting the supervision information to a remote supervision platform by using the processor.

48. The method of claim 47, wherein said sending, with the processor, the administration information to a remote administration platform comprises:

and decrypting the supervision information according to a preset decryption rule by using the processor, and sending the decrypted supervision information to a remote supervision platform.

49. The method of any of claims 29 to 34, wherein the regulatory information comprises one or more of identity information, location information, flight parameter information, flight attitude information, owner information, time of purchase information, place of purchase information, historical flight trajectory information, hardware configuration information, check digit information of the drone, and location information of the control terminal.

50. The method of claim 49, wherein the identity information comprises a vendor identifier and/or a model of the drone;

the position information comprises at least one of current position information of the unmanned aerial vehicle and position information of the unmanned aerial vehicle during takeoff;

the check bit information is a Cyclic Redundancy Check (CRC) check code;

51. A control apparatus, characterized by comprising:

the processor is used for acquiring the supervision information of the unmanned aerial vehicle, and configuring the supervision information into a supervision frame or a supervision subframe;

the transmitter is used for transmitting the supervision frame or the supervision subframe in a time slice with a preset length and/or on a preset frequency point in a working channel of a communication network between the unmanned aerial vehicle and the control terminal, so that supervision equipment scans the working channel of the communication network between the unmanned aerial vehicle and the control terminal by using a detector, determines the supervision frame or the supervision subframe from the working channel by using a processor, and acquires supervision information of the unmanned aerial vehicle from the supervision frame or the supervision subframe by using the processor.

52. The control device of claim 51, wherein the processor is further configured to:

53. The control device of claim 51, wherein the transmitter is further configured to:

and transmitting the supervision frame or the supervision subframe in a time slice with a preset length and/or on a preset frequency point according to a preset SDR technical specification.

54. The control device of claim 52 or 53, wherein the preset SDR specification is a specification specified by or known to the drone's supervisory device.

55. The control device according to claim 52 or 53, wherein the predefined SDR specification is a specification based on TDD mode or FDD mode.

56. The control device of any of claims 51 to 53, wherein the supervision frame or the supervision subframe comprises at least one data field, the supervision information being comprised in the at least one data field.

57. The control device of claim 56, wherein the supervision frame or the supervision subframe further comprises at least one reference field for data synchronization with a supervision device of the drone.

58. The control device according to claim 57, wherein the modulation scheme of the data field and/or the reference field is Quadrature phase Shift keying, QPSK.

59. The control device of any one of claims 51 to 53, wherein the processor is further configured to:

periodically setting time slices of a preset length by using a processor;

the transmitter is further configured to:

and transmitting the supervision frame or the supervision subframe within the time slice of the preset length set periodically.

60. The control apparatus of claim 59, wherein the length of the time slice of the preset length meets a preset length requirement.

61. The control apparatus of claim 60, wherein the predetermined length of the time slice satisfies a predetermined length requirement comprises:

setting the ratio of the period of the time slice with the preset length to be greater than or equal to a preset threshold value.

62. The control device of claim 51, wherein the transmitter is further configured to:

and sending other frames or other subframes outside the time slice with the preset length.

63. The control device of claim 62, wherein the processor is further configured to:

and setting a protection time slot at the starting position and/or the ending position in the time slice with the preset length, wherein the protection time slot is used for finishing switching between transmitting the supervision frame or the supervision subframe and transmitting other frames or other subframes by using the transmitter.

64. The control device of any one of claims 51 to 53, wherein the processor is further configured to:

determining a second frequency point different from the first frequency point;

the transmitter is further configured to:

transmitting the supervision frame or the supervision subframe in a time slice with a preset length on the second frequency point;

65. The control device of claim 64, wherein the transmitter is further configured to:

and determining a second frequency point different from the first frequency point according to a preset frequency hopping pattern, and sending the supervision frame or the supervision subframe in a time slice with a preset length on the second frequency point.

66. The control apparatus of any one of claims 51-53, wherein the transmitter is further configured to:

and periodically sending the supervision frame or the supervision subframe on a preset frequency point.

67. The control device of claim 51, wherein the transmitter is further configured to:

68. The control apparatus of any one of claims 51-53, wherein the transmitter is further configured to:

and sending the supervision frame or the supervision subframe on a plurality of preset frequency points.

69. The control device of claim 68, wherein the processor is further configured to:

determining a second preset frequency point different from the first preset frequency point in a plurality of preset frequency points,

the transmitter is further configured to:

sending the supervision frame or the supervision subframe on the second preset frequency point;

70. The control device of claim 69, wherein the processor is further configured to:

and determining a second preset frequency point different from the first preset frequency point in the plurality of preset frequency points according to a preset frequency hopping pattern.

71. The control device of claim 62 or 67, wherein the other frames or other sub-frames include working data information.

72. The control device of claim 71, wherein the working data information includes at least image data information captured by the unmanned aerial vehicle imaging apparatus.

73. The control device according to claim 62 or 67, wherein one or more of an operating frequency band, a frequency point, a modulation mode, a data format, and a communication protocol of the supervision frame or the supervision subframe is different from that of the other frame or the other subframe.

74. The control device according to claim 65 or 70, wherein the preset hopping pattern is a randomly set hopping pattern.

75. The control device of claim 65 or 70, wherein the predetermined hopping pattern is a hopping pattern determined according to an identification code of the drone.

76. The control device of any one of claims 51 to 53, wherein the processor is further configured to:

77. The control device of any one of claims 51, 52, 53, 62, 63, or 67, wherein the regulatory information includes one or more of identity information, location information, flight parameter information, flight attitude information, owner information, time of purchase information, place of purchase information, historical flight trajectory information, hardware configuration information, check digit information of the drone, and location information of the control terminal.

78. The control device of claim 77, wherein the identity information includes a vendor identifier and a model of the drone;

the check bit information is a Cyclic Redundancy Check (CRC) check code;

79. A surveillance device, comprising:

a processor to determine a supervision frame or a supervision subframe from the data, wherein the supervision frame or the supervision subframe contains supervision information of the drone; and acquiring the supervision information of the unmanned aerial vehicle from the supervision frame or the supervision subframe.

80. The surveillance device of claim 79, wherein the surveillance frames or surveillance subframes are transmitted by the drone in accordance with SDR specifications.

81. The policing device of claim 79, wherein the policing frame or policing subframe comprises at least one data field, the at least one data field comprising the policing information.

82. The supervising device of claim 81, wherein at least one reference field is included in the supervising subframe or supervising frame;

the processor is further configured to:

83. The surveillance device of claim 82, wherein the processor is further configured to:

84. The policing device of claim 82, wherein the data field and/or the reference field is modulated by Quadrature Phase Shift Keying (QPSK).

85. The supervising device of any of claims 79 to 84, wherein other frames or other subframes than the supervision frame or the supervision subframe are included in the data.

86. The policing device of claim 85, wherein the other frames or the other sub-frames comprise working data information.

87. The surveillance apparatus of claim 86, wherein the working data information includes at least image data information captured by an imaging device on the drone.

88. The supervisory device of claim 85, wherein one or more of an operating band, a frequency point, a modulation scheme, a data format, and a communication protocol of the supervisory frame or the supervisory subframe is different from the other frames or the other subframes.

89. The surveillance device of any one of claims 79 to 84, wherein two adjacent surveillance frames or surveillance sub-frames are transmitted on different frequency points for the drone.

90. The regulatory device of claim 89 wherein the two adjacent regulatory frames or regulatory sub-frames being transmitted on different frequency points for the drone comprise:

91. The surveillance device of claim 90, wherein the preset frequency hopping pattern is a randomly set frequency hopping pattern.

92. The surveillance device of claim 90, wherein the predetermined hopping pattern is a hopping pattern determined from an identification number of the drone.

93. The surveillance apparatus of any one of claims 79 to 84, wherein the probe is further configured to:

94. The surveillance apparatus of claim 93, wherein there are one of the detectors, one of the detectors further configured to:

95. The surveillance apparatus of claim 93, wherein the number of detectors is plural, the processor further configured to:

assigning the plurality of operating channels to a plurality of the probes;

each of the plurality of detectors, further configured to:

scanning a preset number of working channels.

96. The surveillance device of any of claims 79-84, further comprising a display for:

and displaying the supervision information.

97. The surveillance device of any one of claims 79 to 84, wherein the processor is further configured to:

and sending the supervision information to a remote supervision platform.

98. The surveillance device of claim 97, wherein the processor is further configured to:

99. The surveillance device of any one of claims 79 to 84, wherein the surveillance information includes one or more of identity information, location information, flight parameter information, flight attitude information, owner information, time of purchase information, place of purchase information, historical flight trajectory information, hardware configuration information, check digit information of the drone, and location information of the control terminal.

100. The surveillance apparatus of claim 99, wherein the identity information comprises a vendor identifier and/or a model of the drone;

the check bit information is a Cyclic Redundancy Check (CRC) check code;

101. An unmanned aerial vehicle, its characterized in that includes:

the control device of any one of claims 51 to 78.