CN110291571A - A kind of control method, equipment, aircraft, system and storage medium - Google Patents

A kind of control method, equipment, aircraft, system and storage medium Download PDF

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Publication number
CN110291571A
CN110291571A CN201880010736.3A CN201880010736A CN110291571A CN 110291571 A CN110291571 A CN 110291571A CN 201880010736 A CN201880010736 A CN 201880010736A CN 110291571 A CN110291571 A CN 110291571A
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CN
China
Prior art keywords
information
aircraft
supervision control
supervision
control information
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201880010736.3A
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Chinese (zh)
Inventor
饶雄斌
赵沧波
龚明
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Dajiang Innovations Technology Co Ltd
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Shenzhen Dajiang Innovations Technology Co Ltd
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Filing date
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Publication of CN110291571A publication Critical patent/CN110291571A/en
Pending legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0073—Surveillance aids
    • G08G5/0082—Surveillance aids for monitoring traffic from a ground station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0095—Aspects of air-traffic control not provided for in the other subgroups of this main group
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/06—Traffic control systems for aircraft, e.g. air-traffic control [ATC] for control when on the ground
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/06—Traffic control systems for aircraft, e.g. air-traffic control [ATC] for control when on the ground
    • G08G5/065—Navigation or guidance aids, e.g. for taxiing or rolling

Abstract

A kind of control method, equipment, aircraft (12), system and storage medium, wherein this method comprises: receiving the flight characteristic information (S301, S401) that aircraft (12) are sent；After receiving the flight characteristic information, send supervision control information (S302), wherein, the supervision control information includes supervision control instruction, and the supervision control information is used to indicate the aircraft (12) and executes policing operation indicated by the supervision control instruction.In this way, the supervision and control to aircraft (12) are realized, the flight safety degree of aircraft (12) is improved.

Description

A kind of control method, equipment, aircraft, system and storage medium
Technical field
The present invention relates to control technology fields more particularly to a kind of control method, equipment, aircraft, system and storage to be situated between Matter.
Background technique
With the development of computer technology, the development of unmanned vehicle is getting faster, while having been attracted and more and more having been disappeared The person of expense uses unmanned vehicle.While bringing new experience to the majority of consumers, unmanned vehicle also brings one to society A little potential risks and crisis unmanned vehicle, potential risks and crisis include: unmanned vehicle invasion of privacy, nobody Aircraft is black to fly, with swarming into national military secrecy, endanger public security etc..Therefore, it is badly in need of a kind of effective supervision communication equipment System supervises unmanned vehicle.
Summary of the invention
The embodiment of the invention provides a kind of control method, equipment, aircraft, system and storage mediums, can be to aircraft It is more effectively supervised and is controlled.
In a first aspect, being applied to monitoring device the embodiment of the invention provides a kind of control method, comprising:
Receive the flight characteristic information that aircraft is sent；
Supervision control information is sent after receiving the flight characteristic information, wherein the supervision controls information and includes Control instruction is supervised, the supervision control information is used to indicate the aircraft and executes prison indicated by the supervision control instruction Pipe operation.
Second aspect, the embodiment of the invention provides another control methods, are applied to aircraft, comprising:
Broadcast flight characteristic information；
It receives the supervision that monitoring device returns and controls information, wherein include that supervision control refers in the supervision control information It enables；
After receiving the supervision control information, policing operation indicated by the supervision control instruction is executed.
The third aspect, the embodiment of the invention provides a kind of monitoring devices, including memory and processor；
The memory, for storing program instruction；
The processor executes the program instruction of memory storage, when program instruction is performed, the processor For executing following steps:
Receive the flight characteristic information that aircraft is sent；
After receiving the flight characteristic information, supervision control information is sent, wherein the supervision controls information and includes Control instruction is supervised, the supervision control information is used to indicate the aircraft and executes prison indicated by the supervision control instruction Pipe operation.
Fourth aspect, the embodiment of the invention provides a kind of aircraft, comprising:
Fuselage；
Dynamical system on fuselage is set, for providing flying power；
Processor, for broadcasting flight characteristic information；It receives the supervision that monitoring device returns and controls information, wherein is described It include supervision control instruction in supervision control information；After receiving the supervision control information, executes the supervision control and refer to Enable indicated policing operation.
5th aspect, the embodiment of the invention provides a kind of control systems, comprising: monitoring device and aircraft,
The aircraft, for broadcasting flight characteristic information；
The monitoring device is receiving the flight characteristic letter for receiving the flight characteristic information of aircraft transmission After breath, supervision control information is sent, wherein include supervision control instruction in the supervision control information；
The aircraft is also used to receive the supervision control information of monitoring device return, and is receiving the supervision control After information processed, policing operation indicated by the supervision control instruction is executed.
6th aspect, the embodiment of the invention provides a kind of computer readable storage medium, the computer-readable storage mediums Matter is stored with computer program, realizes as described in above-mentioned first aspect or second aspect when which is executed by processor Control method.
In the embodiment of the present invention, the flight characteristic information that monitoring device is sent by receiving aircraft, and receiving After stating flight characteristic information, supervision control information is sent to aircraft, so that the aircraft executes the supervision and controls information In include supervision control instruction indicated by policing operation.In this way, the supervision and control to aircraft are realized, Improve the flight safety degree of aircraft.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings Obtain other attached drawings.
Fig. 1 is a kind of structural schematic diagram of control system provided in an embodiment of the present invention；
Fig. 2 is a kind of aircraft provided in an embodiment of the present invention and the corresponding timing diagram of monitoring device；
Fig. 3 is a kind of flow diagram of control method provided in an embodiment of the present invention；
Fig. 4 is the flow diagram of another control method provided in an embodiment of the present invention；
Fig. 5 is the flow diagram of another control method provided in an embodiment of the present invention；
Fig. 6 is the flow diagram of another control method provided in an embodiment of the present invention；
Fig. 7 is a kind of structural schematic diagram of monitoring device provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.
With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, following Feature in embodiment and embodiment can be combined with each other.
The control method provided in the embodiment of the present invention can be executed by a kind of control system, and the control system includes prison Equipment and aircraft are controlled, two-way communication can be carried out between the monitoring device and aircraft.In one embodiment, described to fly Row device can broadcast flight characteristic information, and monitoring device can be configured with one or more detectors, one or more of spies Survey device can in real time to aircraft can workable frequency point be scanned to receive the flight characteristic information.Receiving After stating flight characteristic information, the monitoring device can send supervision control information to the aircraft.In some embodiments In, it include supervision control instruction in the supervision control information, the monitoring device can be believed according to the flight characteristic received It ceases to the aircraft and sends supervision control instruction, to supervise and control the flight of the aircraft, land, take pictures, record a video Operation.The monitoring device can be set in the specific band of position, wherein the specific band of position may include such as machine Multiple monitoring devices can be set on the specific band of position in the regions such as field, government organs location, military restricted zone. In other embodiments, the control method can also be applied on other movable equipments, such as be capable of the machine of autonomous People, unmanned automobile, mobile terminal (such as mobile phone) movable equipment, below to being applied to be made of monitoring device and aircraft The control method of system is illustrated.
Specifically referring to Figure 1, Fig. 1 is a kind of structural schematic diagram of control system provided in an embodiment of the present invention.The system System includes: monitoring device 11, aircraft 12, controlling terminal 13.Wherein, nothing can be passed through between aircraft 12 and monitoring device 11 Line communication connection mode establishes communication connection.Wherein, under certain specific scenes, between the aircraft 12 and monitoring device It can also be established and be communicated to connect by wire communication connection type.The aircraft 12 can be unmanned vehicle, be specifically Rotor type unmanned vehicle, for example, quadrotor unmanned vehicle, six rotor unmanned aircrafts, eight rotor unmanned aircrafts, it can also To be the aircraft such as fixed-wing unmanned vehicle.The aircraft 12 includes dynamical system 121, and the dynamical system 121 is used for There is provided flying power for aircraft 12, wherein dynamical system 121 include propeller, in the mechanical, electrical tune of electricity any one or it is more Kind, aircraft 12 can also include holder 122 and filming apparatus 123, and filming apparatus 123 is equipped on flight by holder 122 In the main body of device 12.The filming apparatus 123 includes but is not limited to multi-spectral imager, hyperspectral imager, Visible Light Camera And infrared camera etc., the holder 122 be spinning transmission and stability augmentation system, horizontal stage electric machine by adjusting rotation axis rotational angle To compensate to the shooting angle of imaging device, and imaging device is prevented or reduced by the way that buffer gear appropriate is arranged Shake.The controlling terminal 13 is used to send telecommand to the aircraft 12, to control the flight of aircraft 12.
In the embodiment of the present invention, the aircraft 12 can send flight characteristic information, such as aircraft in the mistake of flight Broadcasting flight characteristic information in journey can be from the flight when the monitoring device 11 receives the flight characteristic information The link information of the aircraft 12 is got in characteristic information, wherein the link information includes frequency point and/or bandwidth.Institute Monitoring device 11 is stated after receiving the flight characteristic information, can according to frequency point indicated in the link information and/ Or bandwidth sends supervision control information to the aircraft 12, wherein includes supervision control instruction in the supervision control information. The aircraft 12 can execute the supervision control and refer to after receiving the supervision control information that the monitoring device 11 returns Enable indicated policing operation.The embodiment of the present invention is come by realizing the two-way communication between monitoring device 11 and aircraft 12 Realize supervision and control of the monitoring device 11 to aircraft 12.
In one embodiment, the aircraft 12 can be sent by random time interval to the monitoring device 11 Flight characteristic information, multiple aircraft can be reduced in this way and meanwhile send the persistent collisions of flight characteristic information can Energy property, for example, it is assumed that the time interval that aircraft sends flight characteristic information is a fixed value △ t, if there is two flights Device is primary at certain while sending flight characteristic information, then then every minor tick fixed value △ t sends flight to this two aircraft The time of characteristic information is all identical, and lasting conflict will necessarily be generated in sending time, but if is implemented using the present invention The flight characteristic information of transmission at random time intervals described in example, then two aircraft can be spaced different time intervals Flight characteristic information is sent, thus a possibility that reducing multiple aircraft while sending the persistent collisions of flight characteristic information.
In one embodiment, the time interval be according to selected from prefixed time interval threshold value set it is default when Between interval threshold determine, wherein the prefixed time interval threshold value set include at least two prefixed time interval threshold values.Example Such as, it is assumed that the prefixed time interval threshold set is combined into { △ ta,△tb,△tc, then the time interval can be from the collection Close { △ ta,△tb,△tcThe determining time interval of middle selection, such as △ ta.Certainly, in other embodiments, the time interval Time interval can also be therefrom selected successively or according to some preset screening rule.In other embodiments, described to fly The time interval that row device sends the flight characteristic information can depend on the update speed of the flight characteristic information of the aircraft Degree, for example, the renewal speed value range of the flight characteristic information of common aircraft is 0.5s~2s, i.e., the described time interval Value range be 0.5s~2s.
It further include aircraft identity information and/or location information in the flight characteristic information that the aircraft 12 is broadcasted, In one embodiment, the monitoring device 11, can be from the flight characteristic received when receiving flight characteristic information The aircraft identity information that gets aircraft identity information and/or location information in information, and can will acquire and/ Or location information is shown on the interactive interface of the monitoring device 11, is checked for controlling the user of the monitoring device 11.
In one embodiment, the aircraft identity information may include identification information (such as the SN of the aircraft Code), model information, the engine mumber of aircraft, artificially label for being compiled by aircraft etc. is related to the aircraft identity Information, the embodiment of the present invention is not specifically limited.The location information may include the flight position information of the aircraft, Wherein, the location information can be the mobile satellite location equipment (such as global positioning system (Global configured on aircraft Positioning System, GPS)) output location information.It can specifically illustrate, it is assumed that monitoring device 11 is receiving When flight characteristic information, the SN code and location information of aircraft 12, the then monitoring are got from the flight characteristic information The SN code and location information of the aircraft 12 that equipment 11 can will acquire are shown in interaction circle of the monitoring device 11 So that user checks on face.
In one embodiment, the monitoring device 11 can get the aircraft identity letter in flight characteristic information When breath and/or location information, the aircraft identity information and/or location information can be sent to remote monitoring platform, with The remote monitoring platform is set to show the identity information and/or location information of the aircraft, so that the long-range monitoring is flat The controllers of platform are monitored aircraft 12 according to the identity information and/or location information of the aircraft.Wherein, described remote Range monitoring platform can be connected with one or more monitoring devices, and the monitoring device can be sent out to the remote monitoring platform Corresponding information is sent, so that the remote monitoring platform can control one or more of monitoring devices.
The monitoring device 11 can obtain after receiving the flight characteristic information from the flight characteristic information Get the link information of aircraft 12, wherein the link information includes frequency point and/or bandwidth, and the monitoring device 11 can be with According to frequency point and/or bandwidth indicated by the flight characteristic information, to the aircraft 12 on the frequency point and/or bandwidth Repeatedly supervision control information is sent with identical or different time interval.
In one embodiment, aircraft 12 is configured with the radio-frequency front-end for receiving supervision control information, the monitoring Equipment 11 specifically may be used when sending repeatedly supervision control information to the aircraft 12 with identical or different time interval To send the first supervision control information to aircraft 12, so that the aircraft 12 can control radio-frequency front-end and be penetrated according to current Frequency parameter receives the first supervision control information, and penetrates according to the signal parameter amendment of the first supervision control information The current radio frequency parameter in frequency front end.The monitoring device 11 can be to the aircraft 12 between the identical or different time Control information is supervised every transmission second, so that the aircraft 12 controls the radio-frequency front-end and connects according to revised radio frequency parameter The second supervision control information is received, and aircraft 12 is made to execute the supervision control instruction in the second supervision control information The policing operation of instruction.I.e. aircraft 12 can control radio-frequency front-end and receive the first supervision control letter according to current radio frequency parameter Breath, and the first supervision control information is parsed to determine that aircraft 12 receives the signal that first supervision controls information and join Number, such as signal strength, and according to the current radio frequency parameter of signal parameter amendment radio-frequency front-end, radio-frequency front-end is then controlled again It goes to receive the second supervision control information according to revised radio frequency parameter, aircraft 12 can be improved in this way and receive The success rate of supervision control information.In one embodiment, the first supervision control information can be the monitoring device 11 Any primary supervision control information sent in repeatedly supervision control information, the second supervision control are sent to the aircraft 12 Information processed can be the monitoring device 11 and send into the aircraft transmission after amendment radio frequency parameter repeatedly supervision control information Any primary supervision control information.The content of the first supervision control information and the second supervision control information can be identical , the radio frequency parameter includes: gain configuration parameter and/or correction configuration parameter, in addition, the signal parameter can be signal Intensity and/or signal-to-noise ratio.
It can be specifically illustrated by taking Fig. 2 as an example, Fig. 2 is a kind of aircraft provided in an embodiment of the present invention and monitoring device pair The timing diagram answered.As shown in Fig. 2, aircraft can broadcast the subframe 211 of flight characteristic information, monitoring device can received The subframe 211 and interval △ t of the flight characteristic information1Time interval after, Xiang Suoshu aircraft send first supervision control letter The subframe 221 of breath, flying vehicles control radio-frequency front-end receive the son of the first supervision control information according to current radio frequency parameter Frame 221, and current radio frequency parameter is repaired according to the signal parameter for the subframe 221 for receiving the first supervision control information Just, the monitoring device is spaced △ t since the subframe 221 that control information is supervised in transmission first2Time interval after, send The subframe 222 of second supervision control information, the flying vehicles control radio-frequency front-end is according to described in the reception of revised radio frequency parameter The subframe 222 of second supervision control information, wherein △ t1With △ t2For time interval, wherein △ t1With △ t2It can be identical Time interval, be also possible to different time interval.
In one embodiment, the aircraft 12 can be according to the signal of the first supervision control information received Parameter is modified the radio frequency parameter of radio-frequency front-end, and specific makeover process can illustrate, it is assumed that the signal parameter packet Signal strength is included, the radio frequency parameter includes: gain configuration parameter (automatic gain control, AGC), if described The radio-frequency front-end of aircraft 12 receives the signal strength of the first supervision control information according to current radio frequency parameter (Received Signal Strength Indication, RSSI), then the aircraft 12 can control radio-frequency front-end according to The signal strength RSSI for receiving the first supervision control information is calculated and is matched required for receiving the second supervision control information The desired value of the radio frequency parameter AGC set are as follows:
AGC=AGCINIT+10*log10(RSSITARGET/RSSI)
Wherein, RSSITARGETIt is a constant, is to guarantee that the radio-frequency front-end of aircraft is capable of the target of steady operation RSSI value.
In another embodiment, the monitoring device 11 can send the first supervision control information to aircraft 12, with So that the aircraft 12 is can control radio-frequency front-end and the first supervision control information, and root are received according to current radio frequency parameter Current radio frequency parameter is corrected according to the signal parameter of the first supervision control information.Monitoring device 11 can receive aircraft 12 The revised radio frequency parameter returned, and continued to send the second supervision control to the aircraft 12 according to revised radio frequency parameter Information processed.Wherein, the second supervision control information is used to indicate the aircraft and holds in prison the second supervision control information Including the corresponding policing operation of supervision control instruction.
In one embodiment, include verification information in the flight characteristic information, include in the supervision control information The verification information of acquisition is parsed from the flight characteristic information, the verification information of the acquisition is used to indicate the aircraft 12 According to the verification information in the verification information and the flight characteristic information in the supervision control information, the supervision is determined Whether effective control information, it, can be according to the prison if the aircraft 12 determines that the supervision control information is effective It manages the supervision control instruction for including in information processed and executes policing operation.Specifically, monitoring device 11 is receiving flight characteristic Verification information in the flight characteristic information can be packaged to encapsulation into the supervision control information generated after information, so as to fly Row device 12 can control parsing in information from the supervision and be verified information after receiving the supervision control information, and Verification information in flight characteristic information that the verification information parsed is broadcasted with the aircraft 12 is compared, such as Fruit comparison result matches, then can determine that the supervision control information is effective.Wherein, the verification information can be with it is described 12 relevant verification information such as digital signature of aircraft, is also possible to other verification informations, the embodiment of the present invention is without limitation.
In one embodiment, the supervision control instruction, which can be, operates determination by the supervision setting detected, The supervision setting operation can be the operation that the user of monitoring device 11 does monitoring device 11.Specifically, the monitoring The flight characteristic information that equipment 11 can will acquire is shown on the display interface of monitoring device 11, and user is according to the display Flight characteristic information on interface executes corresponding supervision setting operation.For example, it is assumed that the display interface of the monitoring device 11 The upper location information that aircraft is shown, if the location information of the aircraft deviates preset position area, user can To carry out supervision setting operation in the user interface of monitoring device 11, to indicate the aircraft flight to preset position area.
In one embodiment, it is flat to can be the long-range monitoring communicated to connect with monitoring equipment 11 for the supervision control instruction Platform passes through the supervision setting operation determination detected, wherein as previously mentioned, the display interface of remote monitoring platform can be shown The identity information and/or location information of the aircraft, user is according to the flight characteristic information on the display interface described Corresponding supervision setting operation is executed on remote monitoring platform, the remote monitoring platform can be arranged according to the supervision detected Operation determines supervision control instruction, and the supervision control instruction is sent to the monitoring device.In one embodiment, institute Stating supervision control instruction can be according to the determination of flight characteristic information, and specifically, the monitoring device 11 can be according to acquisition To flight characteristic information in aircraft identity information, location information, any one or more information such as signal parameter, generate Supervise control instruction, wherein the supervision control instruction can be hint instructions, instruction of making a return voyage, landing instruct etc. any one Instruction.For example, it is assumed that monitoring device 11 gets the location information of aircraft 12, if determined according to the location information described Aircraft 12 is departing from preset position area, then monitoring device 11 can automatically generate instruction of making a return voyage, and by the instruction of making a return voyage It is sent to the aircraft 12, to indicate that the aircraft 12 makes a return voyage to making a return voyage a little.Alternatively, monitoring device 11 gets aircraft The location information of aircraft 12 is compared by 12 location information with the location information of itself, when determine monitoring equipment 11 with When the distance between aircraft 12 is located at the first pre-determined distance range, supervision control information is sent to aircraft 12, wherein described Supervision control instruction in supervision control information is hint instructions；When determining the distance between monitoring equipment 11 and aircraft 12 position When the second pre-determined distance range, supervision control information is sent to aircraft 12, wherein the supervision in the supervision control information Control instruction is instruction of making a return voyage.
Supervision control instruction in the supervision control information may include hint instructions, in one embodiment, described Monitoring device 11 can send hint instructions to the aircraft 12, and the hint instructions are used to indicate the aircraft 12 to institute The controlling terminal 13 for stating aircraft pushes prompt information, so that user can believe according to the prompt shown in the controlling terminal 13 Breath carries out corresponding operation to aircraft 12 and controls.
The supervision control instruction may include instruction of making a return voyage, and in one embodiment, the prison monitoring device 11 can be with It makes a return voyage instruction to the aircraft 12 transmission, the instruction of making a return voyage is used to indicate the aircraft 12 and makes a return voyage to making a return voyage a little, such as It makes a return voyage to takeoff point.
The supervision control instruction may include landing instruction, and in one embodiment, the monitoring device 11 can be to The aircraft 12 sends landing instruction, and the landing instruction is used to indicate the aircraft 12 and lands, and the aircraft 12 exists It can be shot by photographic device of the carry on aircraft 12 in descent and obtain ambient enviroment, determine to land to choose Point.
The control method for being applied to monitoring device and aircraft is illustrated with reference to the accompanying drawing.
Fig. 3 is referred to, Fig. 3 is a kind of flow diagram of control method provided in an embodiment of the present invention, and the method can To be executed by monitoring device, wherein the specific explanations of the monitoring device are as previously described.Specifically, the institute of the embodiment of the present invention The method of stating includes the following steps.
S301: the flight characteristic information that aircraft is sent is received.
In the embodiment of the present invention, monitoring device can receive the flight characteristic information of aircraft transmission, wherein the flight Characteristic information includes aircraft identity information, location information, link information, any one or more in verification information, this hair Bright embodiment is not specifically limited.
It is in one embodiment, described including aircraft identity information and/or location information in the flight characteristic information Monitoring device can get aircraft identity information and/or location information from the flight characteristic information received, and The aircraft identity information and/or location information are shown on the interactive interface of the monitoring device.Concrete example is as above Described, details are not described herein again.In another embodiment, the monitoring device can will be obtained from the flight characteristic information The aircraft identity information and/or location information arrived, is sent to remote monitoring platform, wherein the monitoring device can be to institute It states remote monitoring platform and sends information, so that the remote monitoring platform can monitor the monitoring device.In other embodiments In, the remote monitoring platform can also control multiple monitoring devices, and the embodiment of the present invention is not specifically limited.
S302: after receiving the flight characteristic information, supervision control information is sent.
In the embodiment of the present invention, monitoring device can send supervision control letter after receiving the flight characteristic information Breath, wherein the supervision control information includes supervision control instruction, and the supervision control information is used to indicate the aircraft and holds Policing operation indicated by the row supervision control instruction.
It include link information in the supervision control information, the link information includes frequency point and/or bandwidth.In a reality It applies in example, the monitoring device can be got after receiving the flight characteristic information from the flight characteristic information Link information including frequency point and/or bandwidth, and according to frequency point and/or bandwidth specified in the link information, Xiang Suoshu Aircraft sends the supervision and controls information.For example, monitoring device after detecting flight characteristic information, gets the flight Frequency point specified by characteristic information and bandwidth, then the monitoring device can fly on the specified frequency point and bandwidth to described Row device sends supervision control information.
In one embodiment, the monitoring device, can be to the flight after receiving the flight characteristic information Device sends repeatedly supervision control information with identical or different time interval.It can specifically illustrate, it is assumed that the time Be spaced it is identical, and be △ t1, then the monitoring device can be after obtaining flight characteristic information, and Xiang Suoshu aircraft is with identical Time interval △ t1Send the information of supervision control twice.In another example, it is assumed that the time interval is different, and respectively △ t1And △ t2, then the monitoring device can be after obtaining flight characteristic information, with interval △ t1It sends and supervises to aircraft for the first time after time Information processed is managed, is spaced △ t again in the time for sending supervision control information relative to first time2Fly to described for second after time Row device sends supervision control information, wherein the supervision control information content sent twice can be identical.
In one embodiment, the flight characteristic information includes verification information, include in supervision control information from Parse the verification information of acquisition in the flight characteristic information, the verification information of the acquisition be used to indicate the aircraft according to The verification information in verification information and the flight characteristic information in the supervision control information, determines the supervision control letter It whether effective ceases.It specifically, include verification information in the flight characteristic information, the monitoring device can be receiving It is parsed after stating flight characteristic information to obtain verification information, and the verification information that parsing obtains is encapsulated to supervision and is controlled It is sent to aircraft in information processed, so that the aircraft is after receiving supervision control information, it can be from the supervision Verification information is analyzed and acquired by control information, the aircraft will parse in obtained verification information and flight characteristic information Verification information is compared, and is matched if both comparing to obtain verification information, may determine that the verification information with it is described Verification information in flight characteristic information is identical, may further determine that the supervision control information is effective.
In one embodiment, the supervision control instruction includes hint instructions, and the monitoring device can be to aircraft It sends the supervision including hint instructions and controls information, so that the aircraft can be according to the finger of the hint instructions received Show, the controlling terminal of Xiang Suoshu aircraft pushes prompt information.For example, it is assumed that the supervision control that monitoring device is sent to aircraft It include hint instructions in information, and the hint instructions are the instruction that aircraft enters supervision region, then the monitoring device can be to Aircraft sends supervision control information, so that the hint instructions in the supervision control information are pushed to institute by the aircraft The controlling terminal for stating aircraft is shown, and pops up prompt information such as " your aircraft is entered by supervision region, it is noted that " etc. To remind user, wherein the controlling terminal includes: remote control equipment, smart phone, tablet computer, one in wearable device Kind is a variety of.
In one embodiment, the supervision control instruction includes instruction of making a return voyage, and the monitoring device can be to aircraft The supervision control information including instruction of making a return voyage is sent, so that the aircraft is returned according to the instruction of the instruction of making a return voyage got Boat.For example, it is assumed that monitoring device includes instruction of making a return voyage into supervision that aircraft is sent control information, then the monitoring device can be with Supervision control information is sent to aircraft, so that the aircraft is according to making a return voyage in the supervision control information received Instruction stops remote control command of the response from controlling terminal, directly makes a return voyage to original starting point and stop.
In one embodiment, the supervision control instruction includes landing instruction, and the monitoring device can be to aircraft Sending includes the supervision control information instructed of landing, so that the aircraft is dropped according to the instruction that the landing got instructs It falls.For example, it is assumed that monitoring device includes landing instruction into supervision that aircraft is sent control information, then the monitoring device can be with Supervision control information is sent to aircraft, so that the aircraft can be according in the supervision control information received Landing instruction stops remote control command of the response from controlling terminal, directly lands since current location.
In the embodiment of the present invention, the flight characteristic information that monitoring device is sent by receiving aircraft, and receiving It states and sends supervision control information to the aircraft after flight characteristic information, so that the aircraft executes the supervision control and believes Policing operation indicated by the supervision control instruction for including in breath.In this way, the supervision and control to aircraft are realized System, improves the flight safety degree of aircraft.
Fig. 4 is referred to, Fig. 4 is the flow diagram of another control method provided in an embodiment of the present invention, the method It can be executed by monitoring device, wherein the specific explanations of monitoring device are as previously described.Described in the embodiment of the present invention and above-mentioned Fig. 3 The difference of embodiment is, the embodiment of the present invention is to the aircraft the identical or different time between monitoring device Every the detailed description for sending repeatedly supervision control information.
S401: the flight characteristic information that aircraft is sent is received.
In the embodiment of the present invention, monitoring device can receive the flight characteristic information of aircraft transmission, wherein the flight The explanation of characteristic information is as described above, details are not described herein again.
In one embodiment, the monitoring device can get aircraft identity letter from the flight characteristic information Breath and/or location information, and the aircraft identity information and/or location information are shown into interaction circle in the monitoring device On face.Concrete example is as described above, details are not described herein again.
S402: the first supervision control information is sent to aircraft.
In the embodiment of the present invention, the monitoring device can send the first supervision control information to aircraft, so that described Flying vehicles control radio-frequency front-end receives the first supervision control information according to current radio frequency parameter, and according to first prison The signal parameter for managing information processed corrects the current radio frequency parameter of the radio-frequency front-end.Radio-frequency front-end pair about the aircraft The citing of the makeover process of radio frequency parameter is as described above, details are not described herein again.
S403: Xiang Suoshu aircraft sends the second supervision control information.
In the embodiment of the present invention, the monitoring device can send the second supervision control information to the aircraft, so that The flying vehicles control radio-frequency front-end receives the second supervision control information according to revised radio frequency parameter, wherein described Second control information processed is used to indicate the aircraft and executes the supervision control instruction pair for including in second control information processed The content of the policing operation answered, the first supervision control information and the second supervision control information can be identical.
It can specifically illustrate, it is assumed that the second supervision control information is that monitoring device is sent to aircraft for the second time Supervision control information, continues to use the example above, since aircraft corrects out one according to the RSSI that first time receives supervision control information A suitable radio frequency parameter AGC gear value sends supervision control information to the aircraft when second of the monitoring device When, the radio-frequency front-end of the aircraft can receive supervision control for the second time according to revised radio frequency parameter AGC gear value Information, so that the aircraft can more effectively receive supervision control information.It can be seen that the embodiment solve due to The problem of improper caused aircraft receives supervision control information failure is arranged in the radio frequency parameter of radio-frequency front-end.
In the embodiment of the present invention, monitoring device is by sending the first supervision control information to aircraft, so that the flight Device controls radio-frequency front-end according to the current radio frequency parameter of the signal parameter amendment radio-frequency front-end of the first supervision control information, leads to It crosses to the aircraft and sends the second supervision control information, so that the flying vehicles control radio-frequency front-end is according to revised radio frequency Parameter receives the second supervision control information, to guarantee that aircraft can preferably receive supervision control information, increase is connect Take into custody the success rate for managing information processed.
Fig. 5 is referred to, Fig. 5 is the flow diagram of another control method provided in an embodiment of the present invention, the method It can be executed by aircraft, wherein the specific explanations of aircraft are as previously described.Specifically, the method for the embodiment of the present invention Include the following steps.
S501: broadcast flight characteristic information.
In the embodiment of the present invention, aircraft can broadcast flight characteristic information in flight course, wherein the flight is special The specific explanations of reference breath are as previously mentioned, details are not described herein again.
In one embodiment, the aircraft can send the flight to monitoring device by random time interval Characteristic information.Wherein, the time interval is according to the prefixed time interval threshold selected from prefixed time interval threshold value set Value determination, the prefixed time interval threshold value set includes at least two prefixed time interval threshold values, for example preceding institute of concrete example It states, details are not described herein again.
S502: it receives the supervision that monitoring device returns and controls information.
In the embodiment of the present invention, the aircraft can repeatedly receive the supervision control information of monitoring device return, wherein It include supervision control instruction in the supervision control information.It can specifically illustrate, it is assumed that the aircraft receives institute twice The supervision control information of monitoring device return is stated, then the aircraft can be when broadcasting flight characteristic information, and being spaced default Between interval threshold △ t1Afterwards, the supervision control information of monitoring device return is received for the first time, and the aircraft can be from first Secondary receive at the time of the supervision that the monitoring device returns controls information starts to be spaced prefixed time interval threshold value △ t2Later, The supervision that monitoring device returns is received again controls information.Certainly, in other embodiments, the aircraft can also synchronize reality When search for and receive the supervision control information that the monitoring device returns, the embodiment of the present invention is not specifically limited.
In one embodiment, the aircraft can control radio-frequency front-end and receive the first prison according to current radio frequency parameter Manage information processed, and the first supervision control information received according to radio-frequency front-end signal parameter correct radio frequency by force before The current radio frequency parameter at end, and control the radio-frequency front-end and receive what the monitoring device was sent according to revised radio frequency parameter Second supervision control information.Concrete example is as previously mentioned, details are not described herein again.
S503: after receiving the supervision control information, the supervision control for including in the supervision control information is executed The indicated policing operation of instruction.
In the embodiment of the present invention, the aircraft can control information according to the supervision received, execute the prison Manage policing operation indicated by the supervision control instruction for including in information processed.In one embodiment, the aircraft can be with Execute policing operation indicated by the supervision control instruction for including in the second supervision control information.
It include verification information in the flight characteristic information, including monitoring device from receiving in supervision control information Flight characteristic information in parse the verification information of acquisition, in one embodiment, the aircraft is receiving the supervision After controlling information, monitoring device can be parsed from supervision control information and parsed from the flight characteristic information received The verification information of acquisition, and the verifying in the flight characteristic information that the verification information parsed and the aircraft are broadcasted Information is compared, if comparison result matches, may determine that supervision control information be it is effective, the aircraft can To execute policing operation indicated by the supervision control instruction for including in the supervision control information.
It in one embodiment, include hint instructions in the supervision control information, the aircraft can be according to described Hint instructions push prompt information to the controlling terminal of the aircraft.Concrete example is as previously mentioned, details are not described herein again.One In a embodiment, the supervision control instruction includes instruction of making a return voyage, and the aircraft can be according to the instruction control institute of making a return voyage Aircraft is stated to make a return voyage.Concrete example is as previously mentioned, details are not described herein again.In one embodiment, the supervision control instruction packet Landing instruction is included, the aircraft can be instructed according to the landing controls the aircraft landing.Concrete example as previously mentioned, Details are not described herein again.
In the embodiment of the present invention, aircraft receives monitoring device and returns by broadcasting flight characteristic information in flight course The supervision returned controls information, and after receiving the supervision control information, executes the prison for including in the supervision control information Policing operation indicated by pipe control instruction.In this way, the supervision control that aircraft can be performed that monitoring device issues refers to It enables, to realize supervision and control to aircraft, improves the flight safety degree of aircraft.
Fig. 6 is referred to, Fig. 6 is the flow diagram of another control method provided in an embodiment of the present invention, the method It can be executed by aircraft, wherein the specific explanations of the aircraft are as previously described.Described in the embodiment of the present invention and above-mentioned Fig. 5 The difference of embodiment is that the embodiment of the present invention is to receive the supervision that monitoring device returns to the aircraft to control the detailed of information It describes in detail bright.
S601: broadcast flight characteristic information.
In the embodiment of the present invention, aircraft can broadcast flight characteristic information in flight course, wherein the flight is special The explanation of reference breath is as previously mentioned, details are not described herein again.In one embodiment, the aircraft is in broadcast flight characteristic information During, the flight characteristic information can be sent to monitoring device by random time interval.Wherein, between the time Every being determined according to the prefixed time interval threshold value that is selected from prefixed time interval threshold value set, the prefixed time interval Threshold value set includes at least two prefixed time interval threshold values.Concrete example is as described above, details are not described herein again.
S602: control radio-frequency front-end receives the first supervision control information according to current radio frequency parameter.
In the embodiment of the present invention, the aircraft can control radio-frequency front-end and receive the first prison according to current radio frequency parameter Manage information processed.The first supervision control information can be appointing in the supervision control information that the aircraft repeatedly receives The supervision once received of anticipating controls information.For example, it is assumed that the first supervision control information is that the aircraft connects for the first time The supervision control information received, then the aircraft can control radio-frequency front-end and receive described first based on current radio frequency parameter Supervision control information.
S603: described current penetrate is corrected according to the signal parameter that radio-frequency front-end receives the first supervision control information Frequency parameter.
In the embodiment of the present invention, the aircraft can control radio-frequency front-end to be believed according to the first supervision control is received The current radio frequency parameter of the signal parameter amendment radio-frequency front-end of breath.It is specific to illustrate as previously mentioned, details are not described herein again.
S604: control radio-frequency front-end continue to that the monitoring device sends according to the revised radio frequency parameter the Two supervision control information.
In the embodiment of the present invention, the aircraft can control radio-frequency front-end and be penetrated according to the revised of the radio-frequency front-end Frequency parameter continues to the second supervision control information that the monitoring device is sent, wherein the first supervision control information and Content included by the second supervision control information can be identical.For example, the aircraft can be based on the radio-frequency front-end Revised radio frequency parameter AGC continues to the second supervision control information that the monitoring device is sent.
S605: policing operation indicated by the supervision control instruction for including in the second supervision control information is executed.
In the embodiment of the present invention, the aircraft receive the second supervision control information that the monitoring device is sent it Afterwards, the corresponding policing operation of supervision control instruction for including in the second supervision control information can be executed.The supervision control May include in information processed hint instructions, instruction of making a return voyage, landing instruction in any one or more, the embodiment of the present invention is not done It is specific to limit.
It in one embodiment, may include hint instructions in the supervision control information, the aircraft can basis The hint instructions for including in the supervision control information received, the controlling terminal of Xiang Suoshu aircraft push prompt information. Concrete example is as previously mentioned, details are not described herein again.It in one embodiment, may include the finger that makes a return voyage in the supervision control information It enables, the aircraft can make a return voyage according to the instruction for the instruction of making a return voyage for including in the supervision control information received.Concrete example As previously mentioned, details are not described herein again.It in one embodiment, may include landing instruction in the supervision control information, it is described Aircraft can land according to the instruction for the landing instruction for including in the supervision control information received.For example preceding institute of concrete example It states, details are not described herein again.
In the embodiment of the present invention, aircraft is set by broadcasting flight characteristic information in flight course according to monitoring is received The signal parameter of standby the first supervision control information returned configures the radio frequency parameter of radio-frequency front-end, and is penetrated based on described The revised radio frequency parameter of frequency front end continues to the second supervision control information that the monitoring device is sent, and is receiving After the supervision control information, policing operation indicated by the supervision control instruction for including in the supervision control information is executed. In this way, the policing operation of monitoring device can be performed in aircraft, improves the flight safety degree of aircraft.
Fig. 7 is referred to, Fig. 7 is a kind of structural schematic diagram of monitoring device provided in an embodiment of the present invention.Specifically, described Monitoring device includes: memory 701, processor 702 and data-interface 703.
The memory 701 may include volatile memory (volatile memory)；Memory 701 also can wrap Include nonvolatile memory (non-volatile memory)；Memory 701 can also include the group of the memory of mentioned kind It closes.The processor 702 can be central processing unit (central processing unit, CPU).The processor 702 is also It may further include hardware chip.Above-mentioned hardware chip can be specific integrated circuit (application-specific Integrated circuit, ASIC), programmable logic device (programmable logic device, PLD) or its group It closes.Specifically it for example can be Complex Programmable Logic Devices (complex programmable logic device, CPLD), Field programmable gate array (field-programmable gate array, FPGA) or any combination thereof.
Further, the memory 701 is for storing program instruction, when program instruction is performed the processor 702 can call the program instruction stored in memory 701, for executing following steps:
Receive the flight characteristic information that aircraft is sent；
After receiving the flight characteristic information, supervision control information is sent, wherein the supervision controls information and includes Control instruction is supervised, the supervision control information is used to indicate the aircraft and executes prison indicated by the supervision control instruction Pipe operation.
Further, the flight characteristic information includes aircraft identity information, location information, link information, verifying letter Any one or more in breath.
Further, the flight characteristic information includes aircraft identity information and/or location information, the processor The program instruction stored in 702 calling memories 701 is also used to execute following steps:
Obtain the aircraft identity information and/or location information；
The aircraft identity information and/or location information are shown on the interactive interface of the monitoring device.
Further, the flight characteristic information includes aircraft identity information and/or location information, the processor The program instruction stored in 702 calling memories 701 is also used to execute following steps:
Obtain the aircraft identity information and/or location information；
The aircraft identity information and/or location information are sent to remote monitoring platform.
Further, the flight characteristic information includes link information, and the processor 702 calls to be deposited in memory 701 The program instruction of storage is specifically used for executing following steps:
Obtain the link information；
According to the link information, Xiang Suoshu aircraft sends the supervision and controls information.
Further, the link information includes frequency point and/or bandwidth.
Further, the processor 702 calls the program instruction stored in memory 701 to be specifically used for executing following step It is rapid:
Repeatedly supervision control information is sent with identical or different time interval to the aircraft.
Further, the processor 702 calls the program instruction stored in memory 701 to be specifically used for executing following step It is rapid:
The first supervision control information is sent to aircraft, so that the flying vehicles control radio-frequency front-end is according to current radio frequency Parameter receives the first supervision control information, and described current according to the signal parameter amendment of the first supervision control information Radio frequency parameter；
The second supervision control information is sent to the aircraft, so that after the flying vehicles control radio-frequency front-end is according to amendment Radio frequency parameter receive it is described second supervision control information；
Wherein, the second supervision control information is used to indicate the aircraft and executes in the second supervision control information Including the corresponding policing operation of supervision control instruction.
Further, the processor 702 calls the program instruction stored in memory 701 to be specifically used for executing following step It is rapid:
The first supervision control information is sent to aircraft, so that the flying vehicles control radio-frequency front-end is according to current radio frequency Parameter receives the first supervision control information, and described current according to the signal parameter amendment of the first supervision control information Radio frequency parameter；
Receive the revised radio frequency parameter that the aircraft returns；
According to the revised radio frequency parameter, continue to send the second supervision control information to the aircraft；
Wherein, the second supervision control information is used to indicate the aircraft and executes in the second supervision control information Including the corresponding policing operation of supervision control instruction.
It further, include verification information in the flight characteristic information, the supervision control information includes flying from described The verification information of acquisition is parsed in row characteristic information, the verification information of the acquisition is used to indicate the aircraft according to the prison The verification information in the verification information and the flight characteristic information in information processed is managed, whether determines the supervision control information Effectively.
Further, the supervision control instruction includes hint instructions, and the hint instructions are used to indicate the aircraft Prompt information is pushed to the controlling terminal of the aircraft.
Further, the supervision control instruction includes instruction of making a return voyage, and the instruction of making a return voyage is used to indicate the aircraft It makes a return voyage.
Further, the supervision control instruction includes landing instruction, and the landing instruction is used to indicate the aircraft Landing.
In the embodiment of the present invention, the flight characteristic information that monitoring device is sent by receiving aircraft, and receiving It states and sends supervision control information to the aircraft after flight characteristic information, so that the aircraft executes the supervision control and believes Policing operation indicated by the supervision control instruction for including in breath.In this way, the supervision and control to aircraft are realized System, improves the flight safety degree of aircraft.
The embodiment of the invention also provides a kind of aircraft, comprising: fuselage；Dynamical system on fuselage is set, is used for Flying power is provided；Processor, for broadcasting flight characteristic information；It receives the supervision that monitoring device returns and controls information, wherein It include supervision control instruction in the supervision control information；After receiving the supervision control information, the supervision control is executed The indicated policing operation of system instruction.
Further, the flight characteristic information includes aircraft identity information, location information, link information, verifying letter Any one or more in breath.
Further, the processor is specifically used for executing following steps:
The flight characteristic information is sent to the monitoring device at random time intervals.
Further, the time interval is according to the prefixed time interval selected from prefixed time interval threshold value set What threshold value determined, the prefixed time interval threshold value set includes at least two prefixed time interval threshold values.
Further, the processor is specifically used for executing following steps:
It controls radio-frequency front-end and the first supervision control information is received according to current radio frequency parameter；
The current radio frequency parameter is corrected according to the signal parameter of the first supervision control information；
Control radio-frequency front-end continues to the second supervision that the monitoring device is sent according to revised radio frequency parameter and controls Information processed；
The processor is specifically used for executing following steps:
Execute policing operation indicated by the supervision control instruction for including in the second supervision control information.
Further, the radio frequency parameter includes: gain configuration parameter and/or correction configuration parameter.
Further, the flight characteristic information includes verification information, and the supervision control information includes that the monitoring is set The standby verification information that acquisition is parsed from the flight characteristic information received, the processor are specifically used for executing following step It is rapid:
According to the verification information in the verification information and the flight characteristic information in the supervision control information, institute is judged Whether effective state supervision control information；
If it is judged that be it is yes, then according to the supervision control instruction for including in the supervision control information, described in execution Policing operation.
Further, the supervision control instruction includes hint instructions, and the processor is specifically used for executing following steps:
Prompt information is pushed to the controlling terminal of the aircraft according to the hint instructions.
Further, the supervision control instruction includes instruction of making a return voyage, and the processor is specifically used for executing following steps:
The aircraft is controlled according to the instruction of making a return voyage to make a return voyage.
Further, the supervision control instruction includes landing instruction, and the processor is specifically used for executing following steps:
The aircraft landing is controlled according to landing instruction.
In the embodiment of the present invention, aircraft receives monitoring device and returns by broadcasting flight characteristic information in flight course The supervision returned controls information, and after receiving the supervision control information, executes the prison for including in the supervision control information Policing operation indicated by pipe control instruction.In this way, the policing operation of monitoring device can be performed in aircraft, improves The flight safety of aircraft.
The embodiment of the invention also provides a kind of control systems, comprising: monitoring device and aircraft；
The aircraft, for broadcasting flight characteristic information；
The monitoring device is receiving the flight characteristic letter for receiving the flight characteristic information of aircraft transmission After breath, supervision control information is sent, wherein the supervision control information includes supervision control instruction；
The aircraft is also used to receive the supervision control information of monitoring device return, and is receiving the supervision control After information processed, policing operation indicated by the supervision control instruction is executed.
Further, the aircraft is specifically used for sending described fly to the monitoring device at random time intervals Row characteristic information.
It further, include aircraft identity information and/or location information in the flight characteristic information, the monitoring is set It is standby, for obtaining the aircraft identity information and/or location information；By the aircraft identity information and/or location information It is shown on the interactive interface of the monitoring device.
It further, include aircraft identity information and/or location information in the flight characteristic information, the monitoring is set It is standby, for obtaining the aircraft identity information and/or location information；By the aircraft identity information and/or location information It is sent to remote monitoring platform.
It further, include link information, the monitoring device, for obtaining the link in the flight characteristic information Information；According to the link information, Xiang Suoshu aircraft sends the supervision and controls information.
Further, the monitoring device is specifically used for the aircraft with identical or different time interval Send repeatedly supervision control information.
Further, the monitoring device is specifically used for sending the first supervision control information to aircraft, so that described fly Row device controls radio-frequency front-end and receives the first supervision control information according to current radio frequency parameter, and according to first supervision The signal parameter of control information corrects the current radio frequency parameter；The second supervision control information is sent to the aircraft, with The flying vehicles control radio-frequency front-end is set to receive the second supervision control information according to revised radio frequency parameter；Wherein, institute State the second supervision control information be used to indicate the aircraft execute it is described second supervision control information in include supervision control Instruct corresponding policing operation.
Further, the monitoring device is specifically used for sending the first supervision control information to aircraft, so that described fly Row device controls radio-frequency front-end and receives the first supervision control information according to current radio frequency parameter, and according to first supervision The signal parameter of control information corrects the current radio frequency parameter；Receive the revised radio frequency ginseng that the aircraft returns Number；According to the revised radio frequency parameter, continue to send the second supervision control information to the aircraft；Wherein, described Two supervision control information are used to indicate the aircraft and execute the supervision control instruction for including in the second supervision control information Corresponding policing operation.
Further, the aircraft receives the first prison according to current radio frequency parameter specifically for control radio-frequency front-end Manage information processed；The current radio frequency parameter is corrected according to the signal parameter of the first supervision control information；Control radio frequency Front end continues to the second supervision control information that the monitoring device is sent according to revised radio frequency parameter；
The aircraft, specifically for executing indicated by the supervision control instruction for including in the second supervision control information Policing operation.
It further, include verification information in the flight characteristic information, wherein include institute in the supervision control information The verification information that monitoring equipment parses acquisition from the flight characteristic information received is stated,
The aircraft, specifically for according to the verification information and the flight characteristic information in the supervision control information In verification information, judge whether supervision control information effective；If it is judged that be it is yes, then according to the supervision control The supervision control instruction for including in information, executes the policing operation.
Further, the supervision control instruction includes hint instructions,
The aircraft, specifically for pushing prompt letter to the controlling terminal of the aircraft according to the hint instructions Breath.
Further, the supervision control instruction includes instruction of making a return voyage,
The aircraft controls the aircraft specifically for instruction of making a return voyage according to and makes a return voyage.
Further, the supervision control instruction includes landing instruction,
The aircraft is specifically used for controlling the aircraft landing according to landing instruction.
In the embodiment of the present invention, the flight characteristic information that monitoring device is sent by receiving aircraft, and receiving It states and sends supervision control information to the aircraft after flight characteristic information, so that the aircraft executes the supervision control and believes Policing operation indicated by the supervision control instruction for including in breath.In this way, the supervision and control to aircraft are realized System, improves the flight safety degree of aircraft.
A kind of computer readable storage medium, the computer-readable storage medium are additionally provided in an embodiment of the present invention Matter is stored with computer program, realizes that Fig. 3, Fig. 4, Fig. 5 or Fig. 6 institute of the present invention is right when the computer program is executed by processor Control method mode described in embodiment is answered, can also realize control system corresponding to Fig. 1, corresponding to the present invention described in Fig. 7 The monitoring device of embodiment, details are not described herein.
The computer readable storage medium can be the internal storage unit of equipment described in aforementioned any embodiment, example Such as the hard disk or memory of equipment.The computer readable storage medium is also possible to the External memory equipment of the equipment, such as The plug-in type hard disk being equipped in the equipment, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card (Flash Card) etc..Further, the computer readable storage medium can also be wrapped both The internal storage unit for including the equipment also includes External memory equipment.The computer readable storage medium is described for storing Other programs and data needed for computer program and the terminal.The computer readable storage medium can be also used for temporarily When store the data that has exported or will export.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with Relevant hardware is instructed to complete by computer program, the program can be stored in a computer-readable storage medium In, the program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, the storage medium can be magnetic Dish, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access Memory, RAM) etc..
Above disclosed is only section Example of the present invention, cannot limit the right model of the present invention with this certainly It encloses, therefore equivalent changes made in accordance with the claims of the present invention, is still within the scope of the present invention.

Claims (60)

1. a kind of control method, which is characterized in that be applied to monitoring device, which comprises
Receive the flight characteristic information that aircraft is sent；
After receiving the flight characteristic information, supervision control information is sent, wherein the supervision control information includes supervision Control instruction, the supervision control information are used to indicate the aircraft and execute the behaviour of supervision indicated by the supervision control instruction Make.
2. the method according to claim 1, wherein
The flight characteristic information includes aircraft identity information, location information, link information, any one in verification information Or it is a variety of.
3. the method according to claim 1, wherein the flight characteristic information includes aircraft identity information And/or location information, the method also includes:
Obtain the aircraft identity information and/or location information；
The aircraft identity information and/or location information are shown on the interactive interface of the monitoring device.
4. the method according to claim 1, wherein the flight characteristic information includes aircraft identity information And/or location information, the method also includes:
Obtain the aircraft identity information and/or location information；
The aircraft identity information and/or location information are sent to remote monitoring platform.
5. the method according to claim 1, wherein the flight characteristic information includes link information, the hair Send supervision control information, comprising:
Obtain the link information；
According to the link information, Xiang Suoshu aircraft sends the supervision and controls information.
6. according to the method described in claim 5, it is characterized in that,
The link information includes frequency point and/or bandwidth.
7. the method according to claim 1, wherein transmission supervision control information, comprising:
Repeatedly supervision control information is sent with identical or different time interval to the aircraft.
8. the method according to the description of claim 7 is characterized in that it is described to the aircraft with it is identical or different when Between interval send repeatedly supervision control information, comprising:
The first supervision control information is sent to aircraft, so that the flying vehicles control radio-frequency front-end is according to current radio frequency parameter The first supervision control information is received, and described current penetrate is corrected according to the signal parameter of the first supervision control information Frequency parameter；
The second supervision control information is sent to the aircraft, so that the flying vehicles control radio-frequency front-end is penetrated according to revised Frequency parameter receives the second supervision control information；
Wherein, the second supervision control information, which is used to indicate the aircraft and executes in the second supervision control information, includes The corresponding policing operation of supervision control instruction.
9. the method according to the description of claim 7 is characterized in that it is described to the aircraft with it is identical or different when Between interval send repeatedly supervision control information, comprising:
The first supervision control information is sent to aircraft, so that the flying vehicles control radio-frequency front-end is according to current radio frequency parameter The first supervision control information is received, and described current penetrate is corrected according to the signal parameter of the first supervision control information Frequency parameter；
Receive the revised radio frequency parameter that the aircraft returns；
According to the revised radio frequency parameter, continue to send the second supervision control information to the aircraft；
Wherein, the second supervision control information, which is used to indicate the aircraft and executes in the second supervision control information, includes The corresponding policing operation of supervision control instruction.
10. the method according to claim 1, wherein
It include verification information in the flight characteristic information, the supervision control information includes solving from the flight characteristic information The verification information obtained is analysed, the verification information of the acquisition is used to indicate the aircraft and controls in information according to the supervision Verification information in verification information and the flight characteristic information determines whether the supervision control information is effective.
11. the method according to claim 1, wherein
The supervision control instruction includes hint instructions, and the hint instructions are used to indicate the aircraft to the aircraft Controlling terminal pushes prompt information.
12. the method according to claim 1, wherein
The supervision control instruction includes instruction of making a return voyage, and the instruction of making a return voyage is used to indicate the aircraft and makes a return voyage.
13. the method according to claim 1, wherein
The supervision control instruction includes landing instruction, and the landing instruction is used to indicate the aircraft landing.
14. a kind of control method, which is characterized in that be applied to aircraft, which comprises
Broadcast flight characteristic information；
It receives the supervision that monitoring device returns and controls information, wherein include supervision control instruction in the supervision control information；
After receiving the supervision control information, policing operation indicated by the supervision control instruction is executed.
15. according to the method for claim 14, which is characterized in that
The flight characteristic information includes aircraft identity information, location information, link information, any one in verification information Or it is a variety of.
16. according to the method for claim 14, which is characterized in that the broadcast flight characteristic information, comprising:
The flight characteristic information is sent to the monitoring device at random time intervals.
17. according to the method for claim 16, which is characterized in that
The time interval is determined according to the prefixed time interval threshold value selected from prefixed time interval threshold value set, institute Stating prefixed time interval threshold value set includes at least two prefixed time interval threshold values.
18. according to the method for claim 14, which is characterized in that the supervision control letter for receiving monitoring device and returning Breath, comprising:
It controls radio-frequency front-end and the first supervision control information is received according to current radio frequency parameter；
The current radio frequency parameter is corrected according to the signal parameter of the first supervision control information；
Control radio-frequency front-end continues to the second supervision control letter that the monitoring device is sent according to revised radio frequency parameter Breath；
It is described to execute policing operation indicated by the supervision control instruction and include:
Execute policing operation indicated by the supervision control instruction for including in the second supervision control information.
19. according to the method for claim 18, which is characterized in that
The radio frequency parameter includes: gain configuration parameter and/or correction configuration parameter.
20. according to the method for claim 14, which is characterized in that the flight characteristic information includes verification information, described Supervision control information includes the verification information that the monitoring device parses acquisition from the flight characteristic information received, institute It states and executes policing operation indicated by the supervision control instruction, comprising:
According to the verification information in the verification information and the flight characteristic information in the supervision control information, the prison is judged Whether effective manage information processed；
If it is judged that be it is yes, then according to it is described supervision control information in include supervision control instruction, execute the supervision Operation.
21. according to the method for claim 14, which is characterized in that the supervision control instruction includes hint instructions, described Execute policing operation indicated by the supervision control instruction, comprising:
Prompt information is pushed to the controlling terminal of the aircraft according to the hint instructions.
22. according to the method for claim 14, which is characterized in that the supervision control instruction includes instruction of making a return voyage, described Execute policing operation indicated by the supervision control instruction, comprising:
The aircraft is controlled according to the instruction of making a return voyage to make a return voyage.
23. according to the method for claim 14, which is characterized in that the supervision control instruction includes landing instruction, described Execute policing operation indicated by the supervision control instruction, comprising:
The aircraft landing is controlled according to landing instruction.
24. a kind of monitoring device characterized by comprising processor and memory；
The memory, for storing program instruction；
The processor executes the program instruction of the memory storage, and when program instruction is performed, the processor is used for Execute following steps:
Receive the flight characteristic information that aircraft is sent；
After receiving the flight characteristic information, supervision control information is sent, wherein the supervision control information includes supervision Control instruction, the supervision control information are used to indicate the aircraft and execute the behaviour of supervision indicated by the supervision control instruction Make.
25. equipment according to claim 24, which is characterized in that
The flight characteristic information includes aircraft identity information, location information, link information, any one in verification information Or it is a variety of.
26. equipment according to claim 24, which is characterized in that the flight characteristic information includes aircraft identity information And/or location information,
The processor is also used to obtain the aircraft identity information and/or location information；By the aircraft identity information And/or location information is shown on the interactive interface of the monitoring device.
27. equipment according to claim 24, which is characterized in that the flight characteristic information includes aircraft identity information And/or location information,
The processor is also used to obtain the aircraft identity information and/or location information；By the aircraft identity information And/or location information is sent to remote monitoring platform.
28. equipment according to claim 24, which is characterized in that the flight characteristic information includes link information,
The processor is specifically used for obtaining the link information；According to the link information, described in Xiang Suoshu aircraft is sent Supervision control information.
29. equipment according to claim 28, which is characterized in that
The link information includes frequency point and/or bandwidth.
30. equipment according to claim 24, which is characterized in that
The processor is specifically used for sending repeatedly supervision control to the aircraft with identical or different time interval Information.
31. equipment according to claim 30, which is characterized in that
The processor, is specifically used for:
The first supervision control information is sent to aircraft, so that the flying vehicles control radio-frequency front-end is according to current radio frequency parameter The first supervision control information is received, and described current penetrate is corrected according to the signal parameter of the first supervision control information Frequency parameter；
The second supervision control information is sent to the aircraft, so that the flying vehicles control radio-frequency front-end is penetrated according to revised Frequency parameter receives the second supervision control information；
Wherein, the second supervision control information, which is used to indicate the aircraft and executes in the second supervision control information, includes The corresponding policing operation of supervision control instruction.
32. equipment according to claim 30, which is characterized in that
The processor, is specifically used for:
The first supervision control information is sent to aircraft, so that the flying vehicles control radio-frequency front-end is according to current radio frequency parameter The first supervision control information is received, and described current penetrate is corrected according to the signal parameter of the first supervision control information Frequency parameter；
Receive the revised radio frequency parameter that the aircraft returns；
According to the revised radio frequency parameter, continue to send the second supervision control information to the aircraft；
Wherein, the second supervision control information, which is used to indicate the aircraft and executes in the second supervision control information, includes The corresponding policing operation of supervision control instruction.
33. equipment according to claim 24, which is characterized in that
It include verification information in the flight characteristic information, the supervision control information includes solving from the flight characteristic information The verification information obtained is analysed, the verification information of the acquisition is used to indicate the aircraft and controls in information according to the supervision Verification information in verification information and the flight characteristic information determines whether the supervision control information is effective.
34. equipment according to claim 24, which is characterized in that
The supervision control instruction includes hint instructions, and the hint instructions are used to indicate the aircraft to the aircraft Controlling terminal pushes prompt information.
35. equipment according to claim 24, which is characterized in that
The supervision control instruction includes instruction of making a return voyage, and the instruction of making a return voyage is used to indicate the aircraft and makes a return voyage.
36. equipment according to claim 24, which is characterized in that
The supervision control instruction includes landing instruction, and the landing instruction is used to indicate the aircraft landing.
37. a kind of aircraft characterized by comprising
Fuselage；
Dynamical system on fuselage is set, is used for: flying power is provided；
Processor, for broadcasting flight characteristic information；It receives the supervision that monitoring device returns and controls information, wherein the supervision Controlling in information includes supervision control instruction；After receiving the supervision control information, supervision control instruction institute is executed The policing operation of instruction.
38. the aircraft according to claim 37, which is characterized in that
The flight characteristic information includes aircraft identity information, location information, link information, any one in verification information Or it is a variety of.
39. the aircraft according to claim 37, which is characterized in that
The processor is specifically used for sending the flight characteristic information to the monitoring device at random time intervals.
40. aircraft according to claim 39, which is characterized in that
The time interval is determined according to the prefixed time interval threshold value selected from prefixed time interval threshold value set, institute Stating prefixed time interval threshold value set includes at least two prefixed time interval threshold values.
41. the aircraft according to claim 37, which is characterized in that
The processor receives the first supervision control information according to current radio frequency parameter for specifically controlling radio-frequency front-end；Root The current radio frequency parameter is corrected according to the signal parameter of the first supervision control information；After radio-frequency front-end is controlled according to amendment Radio frequency parameter continue to the second supervision control information that the monitoring device is sent；
The processor, specifically for executing prison indicated by the supervision control instruction for including in the second supervision control information Pipe operation.
42. aircraft according to claim 41, which is characterized in that
The radio frequency parameter includes: gain configuration parameter and/or correction configuration parameter.
43. the aircraft according to claim 37, which is characterized in that the flight characteristic information includes verification information, institute Stating supervision control information includes the verification information that the monitoring device parses acquisition from the flight characteristic information received,
The processor, specifically for according in the verification information and the flight characteristic information in the supervision control information Verification information judges whether the supervision control information is effective；If it is judged that be it is yes, then according to the supervision control information In include supervision control instruction, execute the policing operation.
44. the aircraft according to claim 37, which is characterized in that the supervision control instruction includes hint instructions,
The processor, specifically for pushing prompt information to the controlling terminal of the aircraft according to the hint instructions.
45. the aircraft according to claim 37, which is characterized in that the supervision control instruction includes instruction of making a return voyage,
The processor controls the aircraft specifically for instruction of making a return voyage according to and makes a return voyage.
46. the aircraft according to claim 37, which is characterized in that the supervision control instruction includes landing instruction,
The processor is specifically used for controlling the aircraft landing according to landing instruction.
47. a kind of control system characterized by comprising monitoring device and aircraft,
The aircraft, for broadcasting flight characteristic information；
The monitoring device, for receiving the flight characteristic information of aircraft transmission, after receiving the flight characteristic information, Send supervision control information, wherein the supervision control information includes supervision control instruction；
The aircraft is also used to receive the supervision control information of monitoring device return, and is receiving the supervision control letter After breath, policing operation indicated by the supervision control instruction is executed.
48. system according to claim 47, which is characterized in that
The aircraft is specifically used for sending the flight characteristic information to the monitoring device at random time intervals.
49. system according to claim 47, which is characterized in that include that aircraft identity is believed in the flight characteristic information Breath and/or location information,
The monitoring device, for obtaining the aircraft identity information and/or location information；By the aircraft identity information And/or location information is shown on the interactive interface of the monitoring device.
50. system according to claim 47, which is characterized in that include that aircraft identity is believed in the flight characteristic information Breath and/or location information,
The monitoring device, for obtaining the aircraft identity information and/or location information；By the aircraft identity information And/or location information is sent to remote monitoring platform.
51. system according to claim 47, which is characterized in that it include link information in the flight characteristic information,
The monitoring device, for obtaining the link information；According to the link information, Xiang Suoshu aircraft sends the prison Manage information processed.
52. system according to claim 47, which is characterized in that
The monitoring device is specifically used for sending repeatedly supervision control to the aircraft with identical or different time interval Information processed.
53. system according to claim 52, which is characterized in that
The monitoring device is specifically used for sending the first supervision control information to aircraft, so that the flying vehicles control radio frequency Front end receives the first supervision control information according to current radio frequency parameter, and according to the letter of the first supervision control information Current radio frequency parameter described in number parameters revision；The second supervision control information is sent to the aircraft, so that the aircraft It controls radio-frequency front-end and the second supervision control information is received according to revised radio frequency parameter；Wherein, the second supervision control Information processed is used to indicate the aircraft and executes the corresponding prison of supervision control instruction for including in the second supervision control information Pipe operation.
54. system according to claim 52, which is characterized in that
The monitoring device is specifically used for sending the first supervision control information to aircraft, so that the flying vehicles control radio frequency Front end receives the first supervision control information according to current radio frequency parameter, and according to the letter of the first supervision control information Current radio frequency parameter described in number parameters revision；Receive the revised radio frequency parameter that the aircraft returns；It is repaired according to described Radio frequency parameter after just continues to send the second supervision control information to the aircraft；Wherein, the second supervision control information It is used to indicate the aircraft and executes the corresponding policing operation of supervision control instruction for including in the second supervision control information.
55. system according to claim 47, which is characterized in that
The aircraft receives the first supervision control information according to current radio frequency parameter specifically for control radio-frequency front-end；Root The current radio frequency parameter is corrected according to the signal parameter of the first supervision control information；After radio-frequency front-end is controlled according to amendment Radio frequency parameter continue to the second supervision control information that the monitoring device is sent；
The aircraft, specifically for executing prison indicated by the supervision control instruction for including in the second supervision control information Pipe operation.
56. system according to claim 47, which is characterized in that it include verification information in the flight characteristic information, In, it include the verifying letter that the monitoring equipment parses acquisition from the flight characteristic information received in the supervision control information Breath,
The aircraft, specifically for according in the verification information and the flight characteristic information in the supervision control information Verification information judges whether the supervision control information is effective；If it is judged that be it is yes, then according to the supervision control information In include supervision control instruction, execute the policing operation.
57. system according to claim 47, which is characterized in that the supervision control instruction includes hint instructions,
The aircraft, specifically for pushing prompt information to the controlling terminal of the aircraft according to the hint instructions.
58. system according to claim 47, which is characterized in that the supervision control instruction includes instruction of making a return voyage,
The aircraft controls the aircraft specifically for instruction of making a return voyage according to and makes a return voyage.
59. system according to claim 47, which is characterized in that the supervision control instruction includes landing instruction,
The aircraft is specifically used for controlling the aircraft landing according to landing instruction.
60. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists In any one of such as claim 1 to 23 of realization the method when the computer program is executed by processor.
CN201880010736.3A 2018-04-18 2018-04-18 A kind of control method, equipment, aircraft, system and storage medium Pending CN110291571A (en)

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