CN111290438A - Unmanned aerial vehicle cluster navigation - Google Patents
Unmanned aerial vehicle cluster navigation Download PDFInfo
- Publication number
- CN111290438A CN111290438A CN202010226617.0A CN202010226617A CN111290438A CN 111290438 A CN111290438 A CN 111290438A CN 202010226617 A CN202010226617 A CN 202010226617A CN 111290438 A CN111290438 A CN 111290438A
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- remote control
- sound wave
- pulse signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004891 communication Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 241000257161 Calliphoridae Species 0.000 description 2
- 230000002079 cooperative effect Effects 0.000 description 2
- 230000000875 corresponding effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
Abstract
The invention relates to the technical field of unmanned aerial vehicle control, in particular to an unmanned aerial vehicle cluster navigation system, which comprises a plurality of multi-rotor unmanned aerial vehicles, a plurality of ground ranging base stations and a remote control end, wherein the unmanned aerial vehicles are connected with the remote control end through a network; the unmanned aerial vehicle comprises a control unit, and an acoustic ranging transmitter, an acoustic ranging receiver, a pulse signal transceiver and an air pressure sensor which are respectively connected with the control unit, wherein the air pressure sensor is used for detecting the altitude of the unmanned aerial vehicle; the ground ranging base station also comprises a pulse signal transceiver and an arithmetic unit which are connected in sequence; the operation unit sends the operation result to the remote control end; calculating the current position of the unmanned aerial vehicle through a ground ranging base station and an air pressure sensor, and controlling tracks of all the unmanned aerial vehicles through a remote control terminal so as to complete navigation and control of the unmanned aerial vehicle group; simultaneously, all unmanned aerial vehicles in the unmanned aerial vehicle crowd all judge the distance between self and other unmanned aerial vehicles through the sound wave range finding, adjust the fuselage by oneself through the control unit, avoid unmanned aerial vehicle to collide with.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle control, in particular to an unmanned aerial vehicle cluster navigation system.
Background
An unmanned aerial vehicle, abbreviated as "unmanned aerial vehicle" ("UAV"), is an unmanned aerial vehicle that is operated using a radio remote control device and a self-contained program control device. Unmanned aerial vehicles are in fact a general term for unmanned aerial vehicles, and can be defined from a technical perspective as follows: unmanned fixed wing aircraft, unmanned VTOL aircraft, unmanned airship, unmanned helicopter, unmanned multi-rotor aircraft, unmanned paravane, etc.
At present, unmanned aerial vehicle is the autonomous working, and the working capability receives the restriction, if can form the cluster system, then very big improvement unmanned aerial vehicle's working capability. Therefore, a need exists to design a multi-rotor drone cluster system.
Disclosure of Invention
In view of this, the present invention provides an unmanned aerial vehicle cluster navigation system, which can control the unmanned aerial vehicle cluster to fly, and avoid the situation of collision among multiple unmanned aerial vehicles.
In order to achieve the purpose, the invention adopts the following technical scheme:
the unmanned aerial vehicle cluster navigation system comprises a plurality of multi-rotor unmanned aerial vehicles, a plurality of ground ranging base stations and a remote control end;
the unmanned aerial vehicle comprises a control unit, and a sound wave distance measuring transmitter, a sound wave distance measuring receiver, a pulse signal transceiver and an air pressure sensor which are respectively connected with the control unit, wherein the sound wave distance measuring receiver is used for receiving sound waves transmitted by the sound wave distance measuring transmitters of other unmanned aerial vehicles, the unmanned aerial vehicle carries out identity recognition by receiving sound wave frequencies transmitted by other unmanned aerial vehicles, and the air pressure sensor is used for detecting the altitude of the unmanned aerial vehicle;
the ground ranging base station also comprises the pulse signal transceiver and the arithmetic unit which are connected in sequence;
and the operation unit sends an operation result to the remote control end.
The unmanned aerial vehicle cluster does not need to pay attention to the spacing distance between the unmanned aerial vehicles when flying, so that collision is avoided, therefore, the unmanned aerial vehicle in the invention adopts the sound wave ranging mode to sense the distance between other unmanned aerial vehicles in the unmanned aerial vehicle cluster and the unmanned aerial vehicle, each unmanned aerial vehicle can send a section of sound wave with certain frequency through the sound wave ranging emitter at regular time, the rest unmanned aerial vehicles immediately send the sound wave with the specific frequency of the unmanned aerial vehicles after receiving the sound wave with the frequency through the sound wave ranging receiver, a plurality of sound waves with different frequencies return to the original place, and as the speed of the sound waves is not changed at the moment, the unmanned aerial vehicle can obtain the distances between the other unmanned aerial vehicles and the unmanned aerial vehicle through simple calculation, and because the relative positions of all the unmanned aerial vehicles are known when the cluster flies, and the frequency of the corresponding sound waves is different, so that when the distance is too close, the control unit can automatically adjust the position to keep the safe distance; in addition, the invention controls the flight attitude and the flight orbit of the unmanned aerial vehicle cluster through the cooperative action of a plurality of ground ranging base stations installed on the ground and a remote control terminal, the ground ranging base stations can regularly transmit a section of pulse signal with a specific waveform to each unmanned aerial vehicle in the unmanned aerial vehicle cluster, a pulse signal transceiver of the unmanned aerial vehicle immediately returns a section of pulse signal after receiving the pulse signal, the returned pulse signal is provided with the identity information of each unmanned aerial vehicle and the measured altitude information of an air pressure sensor, each ground ranging base station can calculate the distance between the unmanned aerial vehicle and the ground ranging base station by calculating the receiving time of the returned pulse signal, simultaneously, each ground ranging base station transmits the distance data to the remote control terminal for calculation, and as the altitude of the ground ranging base station is constant, the accurate position of each unmanned aerial vehicle can be easily calculated through the multipoint distance and the height, after obtaining every unmanned aerial vehicle's current position information, can control unmanned aerial vehicle as required and fly to next position to realize the navigation and the control of unmanned aerial vehicle cluster, owing to consider that data can have the delay at the in-process of transmission, consequently the priority that sound wave range finding adjusted the position by oneself is higher than the control of remote control terminal to unmanned aerial vehicle, in order to avoid unmanned aerial vehicle to collide with, the installation distance can set up through the control unit.
Further, unmanned aerial vehicle still include with GPS orientation module and 4G communication module that the control unit is connected.
Further, the unmanned aerial vehicle carries out identity recognition by receiving other sound wave frequencies sent by the unmanned aerial vehicle.
Furthermore, the remote control terminal comprises a main control chip, a memory and a wireless signal transmitter, wherein the memory and the wireless signal transmitter are connected with the main control chip.
Furthermore, the number of the ground ranging base stations is at least four, and the ground ranging base stations are uniformly and symmetrically distributed around a circle center.
Further, the frequency range of the pulse signals sent by the pulse signal transceivers is 30KHz to 200KHz, and the frequency of the pulse signals sent by the pulse signal transceivers in the unmanned aerial vehicle is uniformly distributed in the range.
Further, the frequency range of the radio signal of the remote control end is 2.4GHz to 2.483 GHz.
The invention has the beneficial effects that: the unmanned aerial vehicle cluster navigation system calculates the current position of the unmanned aerial vehicle through a plurality of ground ranging base stations arranged on the ground and an air pressure sensor on the unmanned aerial vehicle, and controls the next positions of all the unmanned aerial vehicles through a remote control terminal, thereby completing navigation and control of an unmanned aerial vehicle cluster; simultaneously, all unmanned aerial vehicles in the unmanned aerial vehicle crowd all judge the distance between self and other unmanned aerial vehicles through the sound wave range finding, adjust the fuselage by oneself through the control unit, avoid unmanned aerial vehicle to collide with.
Drawings
The invention is further described below with reference to the following figures and examples:
FIG. 1 is a block diagram of the system architecture of the present invention;
FIG. 2 is a diagram of a ground ranging base station location distribution according to the present invention;
fig. 3 is a schematic diagram of positioning of the drone on the X axis according to the invention.
Detailed Description
As shown in fig. 1: the unmanned aerial vehicle cluster navigation system comprises a plurality of multi-rotor unmanned aerial vehicles, a plurality of ground ranging base stations and a remote control end;
the unmanned aerial vehicle comprises a control unit, and a sound wave distance measuring transmitter, a sound wave distance measuring receiver, a pulse signal transceiver and an air pressure sensor which are respectively connected with the control unit, wherein the sound wave distance measuring receiver is used for receiving sound waves transmitted by the sound wave distance measuring transmitters of other unmanned aerial vehicles, the unmanned aerial vehicle carries out identity recognition by receiving the frequency of the sound waves transmitted by other unmanned aerial vehicles, and the air pressure sensor is used for detecting the altitude of the unmanned aerial vehicle;
the ground ranging base station also comprises a pulse signal transceiver and an arithmetic unit which are connected in sequence;
and the operation unit sends the operation result to the remote control end.
The unmanned aerial vehicle cluster is not required to pay attention to the spacing distance between the unmanned aerial vehicles when flying, so that collision is avoided, the unmanned aerial vehicles in the unmanned aerial vehicle cluster sense the distance between other unmanned aerial vehicles in the unmanned aerial vehicle cluster and the unmanned aerial vehicles, each unmanned aerial vehicle can send a section of sound wave with a certain frequency through a sound wave ranging transmitter at regular time, other unmanned aerial vehicles immediately send sound waves with specific frequency after receiving the sound waves with the frequency through a sound wave ranging receiver, a plurality of sound waves with different frequencies return to the original place, the distance between the other unmanned aerial vehicles and the unmanned aerial vehicles can be obtained through simple calculation as the speed of the sound wave is constant at 340m/S at the moment, the formula is that the distance S is 340 x (T1-T2), wherein T2 is the time when the sound wave returns, and T1 is the time when the sound wave is sent; in addition, when the cluster flies, the relative positions of all the unmanned aerial vehicles are known, generally, the relative positions of the unmanned aerial vehicles in the unmanned aerial vehicle cluster are kept unchanged at most of time, and the frequencies of corresponding sound waves are different, so that when the distance is too close, the control unit can automatically adjust the positions to keep the safe distance;
the invention controls the flight attitude and flight orbit of the unmanned aerial vehicle cluster by the cooperative action of a plurality of ground ranging base stations installed on the ground and a remote control terminal, the ground ranging base stations can regularly transmit a section of pulse signal with a specific waveform to each unmanned aerial vehicle in the unmanned aerial vehicle cluster, a pulse signal transceiver of the unmanned aerial vehicle immediately returns a section of pulse signal after receiving the pulse signal, the returned pulse signal is provided with the identity information of each unmanned aerial vehicle and the measured altitude information of an air pressure sensor, each ground ranging base station can calculate the distance between the unmanned aerial vehicle and the ground ranging base station by calculating the receiving time of the returned pulse signal, simultaneously, each ground ranging base station transmits the distance data to the remote control terminal for calculation, and as the altitude of the ground ranging base station is constant, the accurate position of each unmanned aerial vehicle can be easily calculated by the distance and the altitude of multiple points, after obtaining the current position information of each unmanned aerial vehicle, i.e.The unmanned aerial vehicle can be controlled to fly to the next position according to needs, so that navigation and control of an unmanned aerial vehicle cluster are realized, and the priority of the position self-adjustment of the acoustic ranging is higher than the control of the remote control terminal on the unmanned aerial vehicle due to the fact that data can be delayed in the transmission process, so that collision of the unmanned aerial vehicle is avoided, and the installation distance can be set through the control unit; in a specific calculation process diagram, as shown in fig. 2 and 3 in this embodiment, the number of ground ranging base stations is A, B, C and D, the ground ranging base stations are uniformly and symmetrically distributed around a circle center, a connection line of the ground ranging stations BD is an X axis, an AC connection line is a Y axis, an XY axis focus is an origin O, an altitude is a Z axis, the ground ranging stations are located at a position with an altitude of 0, coordinates of the unmanned aerial vehicle W1 at the time are (X1, Y1, Z1), wherein Z1 can be directly read by an air pressure sensor, distances between the unmanned aerial vehicle W1 and the ground ranging stations B and D are S1 and S2, and a distance between the ground detection stations B and D is a fixed value LbdTherefore, it is very easy to obtain:
when S2>At the time of S1, the user can,
when S2<At the time of S1, the user can,
similarly, the value of y1 can be obtained very easily, and the distances between the unmanned plane W1 and the ground distance stations a and C are respectively set as S3 and S4;
when S3>At the time of S4, the user can,
when S3<At the time of S4, the user can,
lac is a fixed distance between ground ranging base stations AC, the position of each unmanned aerial vehicle on the coordinate and a coordinate value W (x, y, z) can be obtained through very simple calculation, and the steps of calculation are respectively transmitted to a remote control through S3, S1, S4 and S2 by ground detection stations A, B, C and DIn the terminal, the control chip is used for calculating, the ground ranging base station sends pulse signals 5-20 times per second, the control chip needs to calculate 5-20 times per second to ensure the continuity of the unmanned aerial vehicles during movement, and the coordinate value of the unmanned aerial vehicle at the moment t1 is W (x, y, z), the movement locus of the unmanned aerial vehicle to be controlled only needs to be subjected to integral operation on the movement locus of the unmanned aerial vehicle; in addition, considering that a certain time is needed for signal transmission, and each unmanned aerial vehicle can not arrive at the same time easily when the unmanned aerial vehicle cluster makes some complex actions, the invention utilizes the principle of acoustic ranging to enable the unmanned aerial vehicles to automatically adjust the positions when approaching too close to each other to avoid collision, the adjustment rule is as follows, a first unmanned aerial vehicle which finds that the unmanned aerial vehicle is too close to other unmanned aerial vehicles keeps away from a near unmanned aerial vehicle according to the relative position of the current unmanned aerial vehicle cluster, the first unmanned aerial vehicle enters a waiting state after the first unmanned aerial vehicle is kept away from the near unmanned aerial vehicle, the second unmanned aerial vehicle which finds that the unmanned aerial vehicle is too close to other unmanned aerial vehicles is adjusted in a waiting state, the operation is repeated until all the unmanned aerial vehicles can keep the installation distance, and the adjustment range is small, for example, the installation distance between the unmanned aerial vehicles is set to be 100CM, then the single adjustment range of, avoiding the collision phenomenon caused by overlarge adjustment amplitude.
In this embodiment, unmanned aerial vehicle still includes GPS orientation module and the 4G communication module be connected with the control unit, ensures that unmanned aerial vehicle can normally find back after losing the antithetical couplet through GPS orientation module and 4G communication module.
In this embodiment, unmanned aerial vehicle carries out identification through receiving the sound wave frequency that other unmanned aerial vehicles sent, and the ripples of different frequencies can not take place to interfere, consequently confirms unmanned aerial vehicle's identity through the sound wave frequency that sound wave range finding receiver received to the judgement is specifically the sound wave that which unmanned aerial vehicle sent.
In this embodiment, the remote control terminal includes a main control chip, a memory connected to the main control chip, and a wireless signal transmitter, and generally, in a specific implementation process, programming is required to control the drone group, a control program is input to the memory, and the main control chip reads and executes the control program, and the wireless signal transmitter transmits a wireless signal to control the drone.
In this embodiment, the pulse signal frequency range of the sending of pulse signal transceiver is 30KHz to 200KHz, and the pulse signal frequency of the pulse signal transceiver transmission in a plurality of unmanned aerial vehicles evenly distributed in the scope, and every unmanned aerial vehicle's pulse signal frequency is different, both guarantees not mutual interference, also can confirm unmanned aerial vehicle's identity through pulse signal's frequency.
In this embodiment, the frequency range of the radio signal is consistent with that of a general unmanned aerial vehicle remote control radio signal, and the frequency range of the radio signal of the remote control end is 2.4GHz to 2.483 GHz.
The unmanned aerial vehicle cluster navigation system calculates the current position of the unmanned aerial vehicle through a plurality of ground ranging base stations arranged on the ground and an air pressure sensor on the unmanned aerial vehicle, and controls the next positions of all the unmanned aerial vehicles through a remote control terminal, thereby completing navigation and control of an unmanned aerial vehicle cluster; simultaneously, all unmanned aerial vehicles in the unmanned aerial vehicle crowd all judge the distance between self and other unmanned aerial vehicles through the sound wave range finding, adjust the fuselage by oneself through the control unit, avoid unmanned aerial vehicle to collide with.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (6)
1. Unmanned aerial vehicle trunking navigation, its characterized in that: the system comprises a plurality of multi-rotor unmanned aerial vehicles, a plurality of ground ranging base stations and a remote control end;
the unmanned aerial vehicle comprises a control unit, and a sound wave distance measuring transmitter, a sound wave distance measuring receiver, a pulse signal transceiver and an air pressure sensor which are respectively connected with the control unit, wherein the sound wave distance measuring receiver is used for receiving sound waves transmitted by the sound wave distance measuring transmitters of other unmanned aerial vehicles, the unmanned aerial vehicle carries out identity recognition by receiving sound wave frequencies transmitted by other unmanned aerial vehicles, and the air pressure sensor is used for detecting the altitude of the unmanned aerial vehicle;
the ground ranging base station also comprises the pulse signal transceiver and the arithmetic unit which are connected in sequence;
and the operation unit sends an operation result to the remote control end.
2. The drone cluster navigation system of claim 1, wherein: the unmanned aerial vehicle also comprises a GPS positioning module and a 4G communication module which are connected with the control unit.
3. The drone cluster navigation system of claim 1, wherein: the remote control terminal comprises a main control chip, a memory and a wireless signal transmitter, wherein the memory and the wireless signal transmitter are connected with the main control chip.
4. The drone cluster navigation system of claim 1, wherein: the number of the ground ranging base stations is at least four, and the ground ranging base stations are uniformly and symmetrically distributed around a circle center.
5. The drone cluster navigation system of claim 1, wherein: the frequency range of the pulse signals sent by the pulse signal transceivers is 30KHz to 200KHz, and the frequency of the pulse signals sent by the pulse signal transceivers in the unmanned aerial vehicle is uniformly distributed in the range.
6. The drone cluster navigation system of claim 1, wherein: the frequency range of the radio signal of the remote control end is 2.4GHz to 2.483 GHz.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010226617.0A CN111290438A (en) | 2020-03-27 | 2020-03-27 | Unmanned aerial vehicle cluster navigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010226617.0A CN111290438A (en) | 2020-03-27 | 2020-03-27 | Unmanned aerial vehicle cluster navigation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111290438A true CN111290438A (en) | 2020-06-16 |
Family
ID=71017952
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010226617.0A Pending CN111290438A (en) | 2020-03-27 | 2020-03-27 | Unmanned aerial vehicle cluster navigation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111290438A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2882156A1 (en) * | 2005-02-15 | 2006-08-18 | Thales Sa | METHOD FOR LOCATING A MOBILE OBJECT FROM DISTANCE MEASUREMENTS AND BISTATIC SPEED OF THIS OBJECT USING A MULTISTATIC SYSTEM |
| CN107289953A (en) * | 2017-08-07 | 2017-10-24 | 深圳市华琥技术有限公司 | A kind of navigation control method of unmanned aerial vehicle group |
| CN107544541A (en) * | 2017-09-18 | 2018-01-05 | 南方科技大学 | A kind of unmanned aerial vehicle (UAV) control method and system |
| CN109533391A (en) * | 2018-11-23 | 2019-03-29 | 中国电力科学研究院有限公司 | A kind of method and system for testing Sichuan-Tibet area unmanned plane cruising inspection system applicability |
| CN109917767A (en) * | 2019-04-01 | 2019-06-21 | 中国电子科技集团公司信息科学研究院 | A kind of distribution unmanned plane cluster autonomous management system and control method |
-
2020
- 2020-03-27 CN CN202010226617.0A patent/CN111290438A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2882156A1 (en) * | 2005-02-15 | 2006-08-18 | Thales Sa | METHOD FOR LOCATING A MOBILE OBJECT FROM DISTANCE MEASUREMENTS AND BISTATIC SPEED OF THIS OBJECT USING A MULTISTATIC SYSTEM |
| CN107289953A (en) * | 2017-08-07 | 2017-10-24 | 深圳市华琥技术有限公司 | A kind of navigation control method of unmanned aerial vehicle group |
| CN107544541A (en) * | 2017-09-18 | 2018-01-05 | 南方科技大学 | A kind of unmanned aerial vehicle (UAV) control method and system |
| CN109533391A (en) * | 2018-11-23 | 2019-03-29 | 中国电力科学研究院有限公司 | A kind of method and system for testing Sichuan-Tibet area unmanned plane cruising inspection system applicability |
| CN109917767A (en) * | 2019-04-01 | 2019-06-21 | 中国电子科技集团公司信息科学研究院 | A kind of distribution unmanned plane cluster autonomous management system and control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11037453B2 (en) | Adaptive sense and avoid system | |
| US5608393A (en) | Differential ground station repeater | |
| CN108521670B (en) | UWB communication and positioning based method for multi-machine-oriented close formation flight and integrated system | |
| Sallouha et al. | Energy-constrained UAV trajectory design for ground node localization | |
| EP2548041B1 (en) | Systems and methods for short baseline, low cost determination of airborne aircraft location | |
| US5596332A (en) | Aircraft location and identification system | |
| CN110199566A (en) | The instruction of unmanned plane user equipment | |
| KR20170074453A (en) | The self collision preventing and avoid system between drone and drone based on near field communivation network | |
| US20190077507A1 (en) | Three-dimensional pathway tracking system | |
| EP3294629A1 (en) | Aircraft coupling method and system | |
| US9692500B2 (en) | Aircraft communications during different phases of flight | |
| KR102088989B1 (en) | Method and apparatus for landing guidance of unmanned aerial vehicle | |
| Becker et al. | Wideband channel measurements and first findings for low altitude drone-to-drone links in an urban scenario | |
| CN107490782A (en) | A kind of localization method positioned using ultrasonic wave and electromagnetic wave and alignment system | |
| JPH09288175A (en) | Method for identifying airplane at airport surface | |
| CN111290438A (en) | Unmanned aerial vehicle cluster navigation | |
| JPS63121772A (en) | Method of detecting position of aeroplane in three way-dme system | |
| KR20200089110A (en) | Radar apparatus for drone | |
| CN213241507U (en) | TCAS system of multi-direction discernment | |
| US20220029695A1 (en) | Signal interference mitigation for uavs | |
| CN112835382A (en) | 5G base station test system based on unmanned aerial vehicle | |
| CN207216013U (en) | A kind of alignment system positioned using ultrasonic wave and electromagnetic wave | |
| KR20210091419A (en) | Unmanned aerial vehicle for fleet operation and fleet operation system | |
| WO2022247475A1 (en) | Flight control method and apparatus, unmanned aerial vehicle and storage medium | |
| CN110601775B (en) | Intelligent channel measuring device and method for unmanned aerial vehicle communication |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20200616 |