CN108759837A - Unmanned plane multi computer communication combat system and method - Google Patents
Unmanned plane multi computer communication combat system and method Download PDFInfo
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- CN108759837A CN108759837A CN201810497304.1A CN201810497304A CN108759837A CN 108759837 A CN108759837 A CN 108759837A CN 201810497304 A CN201810497304 A CN 201810497304A CN 108759837 A CN108759837 A CN 108759837A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/12—Target-seeking control
Abstract
A kind of unmanned plane multi computer communication combat system of present invention offer and method, unmanned plane multi computer communication combat system include：Ground observing and controlling information station, forwarding aircraft and n task aircraft；The ground observing and controlling information station includes phased array high-gain aerial, wireless data image transmission/reception unit, satellite navigation and positioning unit, unmanned plane transmitting and retracting device；It includes the 1st airborne anti-interference satellite navigation unit, the 1st airborne high-precision fixed bit location, the 1st high speed Shuo Tuchuan radio stations, the 1st inertial navigation unit, the 1st flight control units and 1 visible light/infrared camera to forward aircraft.It has the following advantages：A kind of unmanned plane multi computer communication combat system provided by the invention and method, realize unmanned plane multi-aircraft cooperative combat task system, the information such as integrated use battlefield surroundings, aeroplane performance carry out optimized design to combat duty and aerial mission, to achieve the purpose that intelligent scout is hit.
Description
Technical field
The invention belongs to airborne land navigation communication reception technique fields, and in particular to a kind of unmanned plane multi computer communication operation
System and method.
Background technology
It is more and more important that modern military theory and the developing direction of war mode make unmanned plane play the part of in future war
Role.Unmanned plane has played important function with its distinctive mode of operation and fighting efficiency in war.In following anti-air battle
In, unmanned plane brings stern challenge by as a kind of important air-supported threat to air defense operation.
With the application of Satellite Navigation Technique, wireless communication technique and imaging technique on unmanned plane, unmanned plane is in war
The effect of middle performance is more and more comprehensive, and unmanned plane is more next in the advantage of the fields of military operations such as target reconnaissance, tactics strike, relay communication
It is more apparent.However, cooperative ability is limited between existing unmanned plane, fight capability is thereby reduced.
Invention content
In view of the defects existing in the prior art, a kind of unmanned plane multi computer communication combat system of present invention offer and method, can
Effectively solve the above problems.
The technical solution adopted by the present invention is as follows：
The present invention provides a kind of
Unmanned plane multi computer communication combat system provided by the invention and method have the following advantages：
A kind of unmanned plane multi computer communication combat system provided by the invention and method, realize unmanned plane multi-aircraft cooperative combat
Task system, the information such as integrated use battlefield surroundings, aeroplane performance carry out optimization to combat duty and aerial mission and set
Meter, to achieve the purpose that intelligent scout is hit.
Description of the drawings
Fig. 1 is the structural schematic diagram of unmanned plane multi computer communication combat system provided by the invention；
Fig. 2 is the schematic diagram of command chain time slot provided by the invention design；
Fig. 3 is the structural schematic diagram of multiple target provided by the invention strike.
Specific implementation mode
In order to make the technical problems, technical solutions and beneficial effects solved by the present invention be more clearly understood, below in conjunction with
Accompanying drawings and embodiments, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein only to
It explains the present invention, is not intended to limit the present invention.
A kind of unmanned plane multi computer communication combat system of present invention offer and method realize unmanned plane multi-aircraft cooperative combat and appoint
Business system, it is intended to which the information such as integrated use battlefield surroundings, aeroplane performance carry out optimization to combat duty and aerial mission and set
Meter, to achieve the purpose that intelligent scout is hit.
With reference to figure 1, unmanned plane multi computer communication combat system includes：Ground observing and controlling information station, forwarding aircraft and n task fly
Machine；Wherein, n is the natural number more than or equal to 1.Below to the structure point of ground observing and controlling information station, forwarding aircraft and task aircraft
It is not discussed in detail：
(1) ground observing and controlling information station
The ground observing and controlling information station includes phased array high-gain aerial, wireless data image transmission/reception unit, satellite navigation
Positioning unit, unmanned plane transmitting and retracting device；
The wireless data image transmission/reception unit is used for：The forwarding aircraft downlink information is received, and described in real-time display
Forward aircraft downlink information；Wherein, the forwarding aircraft downlink information includes：The image of aircraft shooting, each task is forwarded to fly
The image of machine shooting, the location status for forwarding aircraft, the location status of each task aircraft, the posture for forwarding aircraft, Ge Geren
The posture of business aircraft forwards the velocity information of aircraft and the velocity information of each task aircraft；The wireless data image is received
Bill member is additionally operable to：The control instruction to each task aircraft is sent to the forwarding aircraft, and then controls each task aircraft
Flight attitude, realize and the positioning of target, tracking, aimings and accurate scout hit；
The satellite navigation and positioning unit is used for：Realize the navigator fix to ground observing and controlling information station；
The unmanned plane transmitting and retracting device are used for：Aircraft and each described is forwarded described in rapid fire and reliable recovery
Task aircraft；
Therefore, ground observing and controlling information station receives the image of forwarding aircraft downlink, telemetry information, by each task aircraft
The image of shooting is shown on the desplay apparatus, and realizes the real-time monitoring to target, receives forwarding aircraft and task aircraft is respective
Location status information, and being shown in real time, ground handling operator by the direct object observing point of display device and each can fly
State, the flight path of machine；Ground observing and controlling information station sends control instruction, controls the flight attitude of unmanned plane, realizes to target
Positioning, tracking, aiming and accurate scout strike；It is flat that ground observing and controlling information station configures unmanned plane transport, transmitting and recycling simultaneously
Platform is realized to the long-distance transportation of unmanned plane, rapid fire and reliable recovery.
(2) aircraft is forwarded
The forwarding aircraft includes the 1st airborne anti-interference satellite navigation unit, the 1st airborne high-precision fixed bit location, the 1st high
Su Shuotuchuan radio stations, the 1st inertial navigation unit, the 1st flight control units and 1 visible light/infrared camera；
The 1st airborne anti-interference satellite navigation unit and the 1st inertial navigation unit are used for：It realizes to the forwarding
The navigation of aircraft；
The 1st airborne high-precision fixed bit location is used for：It realizes the positioning to the forwarding aircraft, obtains the forwarding and fly
Location information, posture information and the velocity information of machine itself, and it is sent to the 1st flight control units；
1 visible light/the infrared camera is used for：Shooting and monitoring image, and it is single to be sent to the 1st flight control
Member；
1st high speed Shuo Tuchuan radio stations are used for：Receive the task aircraft uplink that each task aircraft is sent
Information；Wherein, the task aircraft uplink information includes：Task aircraft position, task aspect, task air speed and
The target point image information of task aircraft shooting；After being parsed, then by the task aircraft uplink information, the forwarding aircraft
Itself location information, posture information and velocity information, the monitoring image of the forwarding aircraft shooting are packaged, and are transmitted to institute jointly
State ground observing and controlling information station；1st high speed Shuo Tuchuan radio stations are additionally operable to：Receive the control of the ground observing and controlling information station
Instruction, then parses control instruction, obtains the control instruction to each task aircraft, then will be to each task aircraft
Control instruction is sent to corresponding task aircraft.
As it can be seen that forwarding aircraft can receive the control instruction of ground observing and controlling information station, then instruction is parsed, then
It is transmitted to each task aircraft；Position, status data and target point image information that each task aircraft is sent are received, has been parsed
Cheng Hou relays to ground observing and controlling information station, while the letters such as image and position, posture of itself that can also pass the monitoring of itself down
It ceases and gives ground observing and controlling information station.
(3) task aircraft
The task aircraft includes the 2nd airborne anti-interference satellite navigation unit, the 2nd airborne high-precision fixed bit location, the 2nd high
Su Shuotuchuan radio stations, the 2nd inertial navigation unit, the 2nd flight control units and 2 visible lights/infrared camera；
The 2nd airborne anti-interference satellite navigation unit and the 2nd inertial navigation unit are used for：It realizes to the task
The navigation of aircraft；
The 2nd airborne high-precision fixed bit location obtains the task and flies for realizing the positioning to the task aircraft
Location information, posture information and the velocity information of machine itself, and it is sent to the 2nd flight control units；
2 visible lights/the infrared camera is used for shooting and monitoring image, and it is single to be sent to the 2nd flight control
Member；
2nd high speed Shuo Tuchuan radio stations are used for：Receive the ground observing and controlling information station of the forwarding aircraft forwarding
Control instruction parses control instruction, requires to carry out relevant action according to control instruction；The 2nd high speed number figure passes nothing
Line radio station is additionally operable to：The prison that location information, posture information and the velocity information of task aircraft itself and task aircraft are shot
Altimetric image is packaged, and is uploaded to forwarding aircraft jointly, ground observing and controlling information station is sent to by the forwarding aircraft.
As it can be seen that task aircraft configuration has airborne anti-interference satellite navigation receiver, airborne high-precision fixed bit location, high speed number
Tu Chuan radio stations, inertial navigation unit, flight control units and visible light/infrared camera can receive forwarding aircraft and turn
The control instruction of the ground observing and controlling information station of hair parses instruction, requires to carry out relevant action according to instruction；Send itself
Position, state, the image data of shooting give forwarding aircraft.
After unmanned plane takes off, airborne anti-interference satellite navigation pattern, when there are external interference signals, unjammable navigation are used
Receiver can still receive satellite-signal, be demodulated, output position, posture, velocity information；Unmanned plane when making a return voyage,
High-precision satellite navigation and positioning pattern is enabled, unmanned plane is made accurately to drop on recycling platform.
This system has formation Setting pattern, arbitrarily can form unmanned aerial vehicle group between multiple UAVs, it can be achieved that a band one,
One band two, one is with third formation mode；With real-time task Planning Model, task scheduling can be adjusted in time as needed；Forwarding
Aircraft and task aircraft airborne hardware device are completely the same, and exchange function may be implemented, once forwarding aircraft lost contact, enabling are maked a return voyage
Another airplane in pattern or appointed task aircraft is as forwarding aircraft.
The present invention also provides a kind of unmanned plane multi computer communication methods of fighting according to unmanned plane multi computer communication combat system, answer
It is divided into two classes with scene：Tactical reconnaissance and tactics strike；Unmanned plane tactical reconnaissance is divided into multiple target scouting and single goal is continuously complete
Weather scouts two classes；Tactics strike is divided into multiple target strike and single goal is continuously hit；
Wherein, multiple target scouting carries out the communication method of fighting, includes the following steps：
Step 1, when n task aircraft executes multiple target reconnaissance mission, while n target is scouted；Wherein, it forwards
Aircraft flight height is higher, and the flying height of n task aircraft is less than forwarding aircraft；Aircraft is forwarded to be used for and ground observing and controlling information
Station is communicated, and carries out the transfer of ground up-on command and downlink data, i.e.,：Forward ground observing and controlling information station control instruction to
Task aircraft forwards each ground observing and controlling information station and position of itself, posture and image information to ground observing and controlling information station, ground
Face operating personnel are instructed by sending, and select the target area figure that any one frame task aircraft is spied out in monitor task aircraft
Picture；
Step 2, when ground observing and controlling information station monitors that forwarding aircraft breaks down, ground observing and controlling information station specifies n
Any one frame task aircraft in task aircraft directly replaces forwarding aircraft by pattern configurations；
It is as shown in Figure 2 specifically to transmit signal for Unmanned Aerial Vehicle Data, command information chain under multiple target investigation scene.
Wherein, in ground observing and controlling information station, forwarding aircraft and during n task Wing Newsletter, using time-sharing format into
Row communication transfer, when ground observing and controlling information station needs to transmit control instruction to n task aircraft, by a frame control instruction by suitable
Sequence is divided into n+1 time slot, respectively the 1st time slot, the 2nd time slot ..., (n+1)th time slot；Wherein, the 1st time slot is used for
Transmit the instruction to forwarding aircraft；2nd time slot ..., (n+1)th time slot is respectively used to transmit to the 1st task aircraft ...,
The instruction of n-th of task aircraft；After forwarding aircraft receives the control instruction, is demodulated respectively in each time slot and issue itself
Instruction and issue the instruction of each task aircraft；Then, the instruction for being issued to n task aircraft is assembled into a new control
System instruction, the new control instruction are divided into n time slot in order；Then, forwarding aircraft sends new control instruction simultaneously
To n task aircraft；Each task aircraft parses the order for itself in corresponding time slot, then executes correlation
Action.
Unmanned Aerial Vehicle Data, command chain are transmitted using time-sharing format, and frame forwarding aircraft is shown in Fig. 2 and three framves are appointed
The time slot design of business aircraft, when earth station needs to transmit instructions to A, B, C, D aircraft, refers to correlation in each slot time
It enables and being sent by Radio Link, forwarding aircraft demodulates in tetra- time slots of corresponding A, B, C, D issues the instruction of itself, respectively
The instruction that will issue each task aircraft is demodulated in B, C, D time slot and is forwarded, and each task aircraft is respectively right
The order for oneself is parsed in the time slot answered, and then executes relevant action.
When the data of each task aircraft of ground station reception, be first task aircraft in B, C, D time slot by itself
The information such as location status issue forwarding aircraft A, and forwarding aircraft parses the information of B, C, D in corresponding time slot and is forwarded to ground
It stands, earth station parses the data passed under each aircraft respectively in four time slots, carries out relevant treatment.
For a band one, the application scenarios of a band two, time slot distribution remains unchanged, and only exists in corresponding time slot
Blank information.
The continuous all-weather reconnaissance of single goal carries out the communication method of fighting, includes the following steps：
When needing the continuous all-weather of execution single goal to scout, a task aircraft in n task aircraft is specified to execute
Reconnaissance mission specifies forwarding aircraft to execute forwarding task；After the task aircraft of previous sortie has executed reconnaissance mission, make a return voyage to
Unmanned plane rises and falls platform, at this point, a task aircraft in remaining task aircraft is assigned to execute reconnaissance mission, continues to target point
Execute scouting；It so constantly recycles, realizes the continuous continuous reconnaissance to a target point；Camera unit branch on unmanned plane machine
Hold visible light and infrared airborne camera, in the ban before sortie aircraft when making a return voyage, can according to situation at that time, to latter sortie without
Man-machine airborne camera switches over, and uses daytime visual light imaging, night to use infrared imaging, realizes to target area
All-weather reconnaissance.
Multiple target strike carries out the communication method of fighting, includes the following steps：
When needing to execute multiple target tactics strike task, n target can be hit；Control n task aircraft into
After entering corresponding region of dropping a bomb, ground observing and controlling information station sends instructions to forwarding aircraft, and instruction is distributed to by forwarding aircraft
Each task aircraft, task aircraft receive instruction after respectively to corresponding target point into line trace, positioning, launch bomb；Ground
The image that the wherein any one frame task aircraft of monitoring passes down may be selected by the upper line command of transmission for observing and controlling information station, and selection is suitable
On opportunity, remote control task aircraft launches bomb, and object observing point hits situation；
Continuously strike carries out the communication method of fighting to single goal, includes the following steps：
With reference to figure 3, a task aircraft in n task aircraft is specified to execute strike task, forwarding aircraft is specified to execute
Forwarding task；It after the task aircraft of previous sortie has executed strike task, makes a return voyage to unmanned plane and rises and falls platform, at this point, assigning
A task aircraft in remaining task aircraft executes strike task, continues to execute strike to target point；So constantly recycle, it is real
Now to the continuous uninterrupted strike of a target point.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
Depending on protection scope of the present invention.
Claims (2)
1. a kind of unmanned plane multi computer communication combat system, which is characterized in that including：Ground observing and controlling information station, forwarding aircraft and n
Task aircraft；Wherein, n is the natural number more than or equal to 1；
The ground observing and controlling information station includes phased array high-gain aerial, wireless data image transmission/reception unit, satellite navigation and positioning
Unit, unmanned plane transmitting and retracting device；
The wireless data image transmission/reception unit is used for：The forwarding aircraft downlink information is received, and is forwarded described in real-time display
Aircraft downlink information；Wherein, the forwarding aircraft downlink information includes：The image of aircraft shooting, each task aircraft is forwarded to clap
The location status of the image, forwarding aircraft taken the photograph, the location status of each task aircraft, the posture for forwarding aircraft, each task fly
The velocity information of the posture of machine, the velocity information for forwarding aircraft and each task aircraft；The wireless data image transmission/reception list
Member is additionally operable to：The control instruction to each task aircraft is sent to the forwarding aircraft, and then controls flying for each task aircraft
Row posture is realized and is hit the positioning of target, tracking, aiming and accurate scout；
The satellite navigation and positioning unit is used for：Realize the navigator fix to ground observing and controlling information station；
The unmanned plane transmitting and retracting device are used for：Aircraft and each task are forwarded described in rapid fire and reliable recovery
Aircraft；
The forwarding aircraft includes the 1st airborne anti-interference satellite navigation unit, the 1st airborne high-precision fixed bit location, the 1st high speed number
Tu Chuan radio stations, the 1st inertial navigation unit, the 1st flight control units and 1 visible light/infrared camera；
The 1st airborne anti-interference satellite navigation unit and the 1st inertial navigation unit are used for：It realizes to the forwarding aircraft
Navigation；
The 1st airborne high-precision fixed bit location is used for：It realizes to the positioning of the forwarding aircraft, obtains the forwarding aircraft certainly
Location information, posture information and the velocity information of body, and it is sent to the 1st flight control units；
1 visible light/the infrared camera is used for：Shooting and monitoring image, and it is sent to the 1st flight control units；
1st high speed Shuo Tuchuan radio stations are used for：Receive the task aircraft uplink information that each task aircraft is sent；
Wherein, the task aircraft uplink information includes：Task aircraft position, task aspect, task air speed and task
The target point image information of aircraft shooting；After being parsed, then by the task aircraft uplink information, the forwarding aircraft itself
Location information, posture information and velocity information, it is described forwarding aircraft shooting monitoring image be packaged, be transmitted to jointly describedly
Face observing and controlling information station；1st high speed Shuo Tuchuan radio stations are additionally operable to：The control for receiving the ground observing and controlling information station refers to
It enables, then control instruction is parsed, obtain the control instruction to each task aircraft, then by the control to each task aircraft
System instruction is sent to corresponding task aircraft；
The task aircraft includes the 2nd airborne anti-interference satellite navigation unit, the 2nd airborne high-precision fixed bit location, the 2nd high speed number
Tu Chuan radio stations, the 2nd inertial navigation unit, the 2nd flight control units and 2 visible lights/infrared camera；
The 2nd airborne anti-interference satellite navigation unit and the 2nd inertial navigation unit are used for：It realizes to the task aircraft
Navigation；
The 2nd airborne high-precision fixed bit location obtains the task aircraft certainly for realizing the positioning to the task aircraft
Location information, posture information and the velocity information of body, and it is sent to the 2nd flight control units；
2 visible lights/the infrared camera is used for shooting and monitoring image, and is sent to the 2nd flight control units；
2nd high speed Shuo Tuchuan radio stations are used for：Receive the control of the ground observing and controlling information station of the forwarding aircraft forwarding
Instruction, parses control instruction, requires to carry out relevant action according to control instruction；The 2nd high speed number figure passes radio
Platform is additionally operable to：The monitoring figure that location information, posture information and the velocity information of task aircraft itself and task aircraft are shot
As being packaged, it is uploaded to forwarding aircraft jointly, ground observing and controlling information station is sent to by the forwarding aircraft.
2. a kind of unmanned plane multi computer communication method of fighting of unmanned plane multi computer communication combat system according to claim 1,
It is characterized in that, application scenarios are divided into two classes：Tactical reconnaissance and tactics strike；Unmanned plane tactical reconnaissance be divided into multiple target scout and
Continuous two class of all-weather reconnaissance of single goal；Tactics strike is divided into multiple target strike and single goal is continuously hit；
Wherein, multiple target scouting carries out the communication method of fighting, includes the following steps：
Step 1, when n task aircraft executes multiple target reconnaissance mission, while n target is scouted；Wherein, aircraft is forwarded
Flying height is higher, and the flying height of n task aircraft is less than forwarding aircraft；Forward aircraft be used for ground observing and controlling information station into
Row communication, carries out the transfer of ground up-on command and downlink data, i.e.,：Forward the control instruction of ground observing and controlling information station to task
Aircraft forwards each ground observing and controlling information station and position of itself, posture and image information to ground observing and controlling information station, ground behaviour
Make personnel to instruct by sending, selects the target area image that any one frame task aircraft is spied out in monitor task aircraft；
Step 2, when ground observing and controlling information station monitors that forwarding aircraft breaks down, ground observing and controlling information station specifies n task
Any one frame task aircraft in aircraft directly replaces forwarding aircraft by pattern configurations；
Wherein, during ground observing and controlling information station, forwarding aircraft and n task Wing Newsletter, led to using time-sharing format
News transmission draws a frame control instruction when ground observing and controlling information station needs to transmit control instruction to n task aircraft in order
It is divided into n+1 time slot, respectively the 1st time slot, the 2nd time slot ..., (n+1)th time slot；Wherein, the 1st time slot is used for transmission
To forwarding the instruction of aircraft；2nd time slot ..., (n+1)th time slot is respectively used to transmit to the 1st task aircraft ..., n-th
The instruction of task aircraft；After forwarding aircraft receives the control instruction, is demodulated respectively in each time slot and issue the finger of itself
Enable and issue the instruction of each task aircraft；Then, the instruction for being issued to n task aircraft is assembled into a new control and refers to
It enables, which is divided into n time slot in order；Then, new control instruction is sent to n by forwarding aircraft simultaneously
Task aircraft；Each task aircraft parses the order for itself in corresponding time slot, then executes relevant dynamic
Make；
The continuous all-weather reconnaissance of single goal carries out the communication method of fighting, includes the following steps：
When needing the continuous all-weather of execution single goal to scout, a task aircraft in n task aircraft is specified to execute scouting
Task specifies forwarding aircraft to execute forwarding task；After the task aircraft of previous sortie has executed reconnaissance mission, make a return voyage to nobody
Machine rises and falls platform, at this point, a task aircraft in remaining task aircraft is assigned to execute reconnaissance mission, continues to execute target point
It scouts；It so constantly recycles, realizes the continuous continuous reconnaissance to a target point；
Multiple target strike carries out the communication method of fighting, includes the following steps：
When needing to execute multiple target tactics strike task, n target can be hit；N task aircraft of control enters each
Behind self-corresponding region of dropping a bomb, ground observing and controlling information station sends instructions to forwarding aircraft, and instruction is distributed to each by forwarding aircraft
Task aircraft, task aircraft receive instruction after respectively to corresponding target point into line trace, positioning, launch bomb；Ground observing and controlling
The image that the wherein any one frame task aircraft of monitoring passes down may be selected by the upper line command of transmission for information station, when selecting suitable
Machine, remote control task aircraft launches bomb, and object observing point hits situation；
Continuously strike carries out the communication method of fighting to single goal, includes the following steps：
It specifies a task aircraft in n task aircraft to execute strike task, forwarding aircraft is specified to execute forwarding task；Currently
It after the task aircraft of one sortie has executed strike task, makes a return voyage to unmanned plane and rises and falls platform, at this point, assigning in remaining task aircraft
A task aircraft execute strike task, continue to execute strike to target point；It so constantly recycles, realizes to a target point
Continuous uninterrupted strike.
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| CN109189100A (en) * | 2018-11-16 | 2019-01-11 | 北京遥感设备研究所 | A kind of the quadrotor drone group control system and method for view-based access control model positioning |
| CN109931936A (en) * | 2019-03-18 | 2019-06-25 | 西北工业大学 | A kind of weak connectedness AUV collaborative navigation method based on mobile-relay station |
| CN110988952A (en) * | 2019-12-25 | 2020-04-10 | 中国航空工业集团公司沈阳飞机设计研究所 | Unmanned aerial vehicle navigation method and system with anti-interference and high precision |
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| CN111431576A (en) * | 2020-05-14 | 2020-07-17 | 上海道生物联技术有限公司 | Time division duplex communication system and method |
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| CN113495287A (en) * | 2020-04-03 | 2021-10-12 | 北京金坤科创技术有限公司 | High-precision positioning method for swarm unmanned aerial vehicle |
| CN113536984A (en) * | 2021-06-28 | 2021-10-22 | 北京沧沐科技有限公司 | Image target identification and tracking system based on unmanned aerial vehicle |
| CN113721664A (en) * | 2020-05-26 | 2021-11-30 | 中国兵器工业计算机应用技术研究所 | Air-ground cooperative unmanned system |
| CN113965830A (en) * | 2021-10-22 | 2022-01-21 | 中国人民解放军63660部队 | Multi-target space-based relay telemetry method based on regenerative forwarding |
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