CN113114409A - PCIE card-inserting type unmanned aerial vehicle interference signal generator, interference method and related equipment - Google Patents

Abstract

The embodiment of the application provides a PCIE card-inserting type unmanned aerial vehicle jamming signal generator, a jamming method and related equipment, which belong to the technical field of unmanned aerial vehicles, and the jamming signal generator comprises: the PCIE interface digital circuit assembly is used for receiving PCIE data and generating waveform data through an internal PCIE logic conversion circuit; the input end of the digital-to-analog conversion component is connected with the output end of the PCIE interface digital circuit component and is used for receiving waveform data generated by the PCIE interface digital circuit component and generating an interference baseband signal; and the input end of the broadband modulation component is connected with the output end of the digital-to-analog conversion component and is used for modulating the frequency of the interference baseband signal to generate an interference signal. By the processing scheme, the interference signal with any waveform of 60Mhz-6Ghz can be generated or the conventional interference signal can be generated through internal logic, so that the interference effect on the unmanned aerial vehicle is improved.

Description

PCIE card-inserting type unmanned aerial vehicle interference signal generator, interference method and related equipment

Technical Field

The application relates to the technical field of unmanned aerial vehicles, in particular to a PCIE card-inserting type unmanned aerial vehicle interference signal generator, an interference method and related equipment.

Background

At present, the types and the number of unmanned aerial vehicles are more and more, and the 'black flying' event is forbidden more and more, so that the life and property safety of people is seriously harmed, and the social security is disturbed. The countermeasures for the unmanned aerial vehicle become security measures which must be deployed in government-related departments and even important private places. The unmanned aerial vehicle interference equipment mainly adopts a method of remote control signal suppression for interference, and suppresses the remote control signal of the unmanned aerial vehicle by sending a high-power fixed-frequency interference signal or a sweep frequency interference signal, so that the unmanned aerial vehicle cannot normally communicate with a ground remote controller, and the purpose of forced landing or driving away of the unmanned aerial vehicle is achieved. Such interference signals are typically generated by a voltage controlled oscillator, and the interfering device generates the desired interference signal by adjusting the control voltage.

The unmanned aerial vehicle interference signal that current unmanned aerial vehicle jamming arrangement produced has the signal frequency band narrowly, and the response speed is slow, the single shortcoming of frequency. This kind of interference signal has better anti-effect to the unmanned aerial vehicle that early releases in the market, and along with unmanned aerial vehicle's renewal is accelerated, the jam-proof unmanned aerial vehicle begins to appear, and the interference signal before can't effectual play the counter-action. The anti-interference unmanned aerial vehicle adopts frequency hopping remote control signals for communication, the anti-interference remote control signals have the characteristics of wide frequency band which can reach 100Mhz or 150Mhz, high frequency hopping speed and the like, and interference signals generated by conventional interference equipment cannot be completely suppressed in the wide frequency band, are quick to respond, so the interference effect is very small.

Disclosure of Invention

In view of this, embodiments of the present application provide a PCIE card type drone jamming signal generator, a jamming method, and a related device, which at least partially solve the problems in the prior art.

In a first aspect, the present application provides a PCIE card-inserted type unmanned aerial vehicle interference signal generator, the generator includes:

the PCIE interface digital circuit assembly is used for receiving PCIE data and generating waveform data through an internal PCIE logic conversion circuit;

the input end of the digital-to-analog conversion component is connected with the output end of the PCIE interface digital circuit component and is used for receiving waveform data generated by the PCIE interface digital circuit component and generating an interference baseband signal;

and the input end of the broadband modulation component is connected with the output end of the digital-to-analog conversion component and is used for modulating the frequency of the interference baseband signal to generate an interference signal.

According to a specific implementation manner of the embodiment of the application, the PCIE interface digital circuit component is an FPGA component or a DSP component.

According to a specific implementation manner of the embodiment of the application, the input end of the PCIE interface digital circuit assembly is connected to a PCIE bus, the PCIE bus interface is PCIE x4, and the bandwidth is 20 Gbps.

According to a specific implementation manner of the embodiment of the present application, the digital-to-analog conversion component has a bandwidth of 200M.

According to a specific implementation manner of the embodiment of the application, the interference signal is any waveform signal of a 60Mhz-6Ghz frequency band.

According to a specific implementation manner of the embodiment of the application, the required waveform data includes one or more of a fixed frequency signal, a frequency sweep signal and a comb wave signal.

According to a concrete implementation mode of the embodiment of the application, the interference unit further comprises an unmanned aerial vehicle interference signal transmitting assembly for transmitting the interference signal generated by the broadband modulation assembly.

According to a concrete implementation mode of the embodiment of the application, the unmanned aerial vehicle interference signal transmitting assembly is a planar antenna or a horn antenna.

In a second aspect, an embodiment of the present application provides an electronic device, where the electronic device includes the PCIE card-inserted unmanned aerial vehicle interference signal generator described in any embodiment of the foregoing first aspect.

In a third aspect, an embodiment of the present application provides an interference method for a PCIE card-inserted type unmanned aerial vehicle interference signal generator, where the method includes:

the PCIE card-inserting type unmanned aerial vehicle interference signal generator receives PCIE data and generates waveform data through an internal PCIE logic conversion circuit;

the PCIE card-inserting type unmanned aerial vehicle interference signal generator generates interference baseband signals according to waveform data generated by the internal PCIE logic conversion circuit;

and the PCIE card-inserted unmanned aerial vehicle interference signal generator modulates the frequency of the interference baseband signal to generate an interference signal to interfere the unmanned aerial vehicle.

Advantageous effects

This application has integrated the FPGA subassembly of large capacity, digital analog conversion subassembly and the wide band modulation subassembly of 200M bandwidth, can receive the interference waveform data that the host computer sent in real time through the PCIE bus, generate the interference signal of the arbitrary waveform of 60Mhz-6Ghz, perhaps generate conventional interference signal through the inside logic of FPGA subassembly, if the fixed frequency signal, the frequency sweep signal, the comb wave signal, the various unmanned aerial vehicle of effectual interference, effectively solve the problem that the unmanned aerial vehicle jammer on the current market can't effectively disturb the novel unmanned aerial vehicle frequency hopping remote control signal.

Drawings

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

Fig. 1 is a structural diagram of a PCIE card-inserted type unmanned aerial vehicle interference signal generator provided in the embodiment of the present application;

fig. 2 is a flowchart of an unmanned aerial vehicle jamming method provided in an embodiment of the present application;

fig. 3 is a block diagram of an electronic device according to an embodiment of the present application.

Detailed Description

The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

The following description of the embodiments of the present application is provided by way of specific examples, and other advantages and effects of the present application will be readily apparent to those skilled in the art from the disclosure herein. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. The present application is capable of other and different embodiments and its several details are capable of modifications and/or changes in various respects, all without departing from the spirit of the present application. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the present application, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.

It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present application, and the drawings only show the components related to the present application rather than the number, shape and size of the components in actual implementation, and the type, amount and ratio of the components in actual implementation may be changed arbitrarily, and the layout of the components may be more complicated.

In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.

In a first aspect, the PCIE card-inserted unmanned aerial vehicle interference signal generator provided in the embodiment of the present application includes a PCIE interface digital circuit component, a digital-to-analog conversion component (DA component), and a broadband modulation component, and the structure thereof refers to fig. 1.

The PCIE interface digital circuit assembly is used for receiving PCIE data and generating waveform data through an internal PCIE logic conversion circuit.

And the input end of the digital-to-analog conversion assembly is connected with the output end of the PCIE interface digital circuit assembly and is used for receiving the waveform data generated by the PCIE interface digital circuit assembly and generating an interference baseband signal.

And the input end of the broadband modulation component is connected with the output end of the digital-to-analog conversion component and is used for modulating the frequency of the interference baseband signal to generate an interference signal.

The Digital circuit component used in the PCIE card type unmanned aerial vehicle interference Signal generator provided in the embodiment of the present application may not be limited, and may be an FPGA (Field Programmable Gate Array) component or a DSP (Digital Signal Processing) component, etc. In the following description, FPGA components are used as an example, but it should be understood that other suitable digital circuit components of the PCIE card-type drone jamming signal generator may be used.

The basic structure of the FPGA comprises a programmable input/output unit, a configurable logic module, a digital clock management module, an embedded block RAM, wiring resources, an embedded special hard core and a bottom layer embedded functional unit. Because the FPGA has the characteristics of abundant wiring resources, high repeatable programming and integration level, and low investment, in this embodiment, the FPGA component is adopted, and the signal generator is designed to be a PCIE card-inserted architecture. .

In this embodiment, the FPGA component receives a signal sent by an upper computer through a PCIE bus (peripheral component interconnect express, a high-speed serial computer expansion bus standard), where the upper computer is a computer that can directly send a control command, but the specific model and type of the upper computer are not limited, as long as it can send a control command to the PCIE card-inserted unmanned aerial vehicle interference signal generator. The PCIE bus interface comprises a pcieX1 interface, a pcieX4 interface, a pcieX8 interface, a pcieX12 interface, a pcieX16 interface and a pcieX32 interface, and preferably, the PCieX4 interface is selected as the PCieX bus interface, so that the bandwidth can reach 20Gbps, and the requirement of the input bandwidth of the digital-to-analog conversion assembly is met.

The FPGA component receives signals sent by the upper computer and can be control commands, and the FPGA is a programmable logic array, so that a logic circuit of conventional waveforms can be generated through logic in the FPGA component, for example, waveform data required by fixed signals such as a fixed frequency signal, a frequency sweeping signal and a comb wave signal are generated, and the waveform data are digital quantity signals.

It should be understood that, although the waveform data are described as a fixed frequency signal, a frequency sweep signal, and a comb wave signal, this is only an example provided for explaining the present application and does not constitute a limitation to the present application, and data signals of other waveforms are also within the scope of the present application.

The signals received by the FPGA component can also be interference waveform data, and waveform data required by the digital-to-analog conversion component is generated through conversion of the FPGA, wherein the waveform data is a digital quantity signal.

The digital-to-analog conversion component is a circuit for converting digital quantity into analog quantity, is used for converting digital quantity signals generated by the FPGA component into analog quantity signals, and comprises a digital-to-analog converter, wherein the digital-to-analog converter consists of reference voltage, a digital register, an n-bit analog switch, a decoding network and a summation circuit, and the working principle is as follows: when n-bit digital quantity is input, the digital register is used for storing each bit of digital code of the digital quantity of the digital register, the input digital quantity controls the n-bit analog switch to realize switching, weight current is generated in the decoding network, the weight current is added by the summing circuit to generate analog voltage which is in direct proportion to input, and finally the analog quantity is output.

In this embodiment, the digital-to-analog conversion component has a bandwidth of 200M, and since the PCIE bus is a pci ex4 interface and the bandwidth reaches 20Gbps, the input bandwidth requirement of the digital-to-analog conversion component with the bandwidth of 200M is far satisfied, and the high efficiency, stability, and realizability of data transmission are ensured. The digital-to-analog conversion component can receive FPGA data in real time so as to generate an interference baseband signal with a bandwidth of 200M.

In the present embodiment, the type of the digital-to-analog conversion component is not limited, and it may be formed by any type of digital-to-analog converter as long as it has the capability of converting the waveform data generated by the FPGA into the interference baseband signal.

The input end of the broadband modulation component is connected with the output end of the digital-to-analog conversion component, and is used for generating an interference signal by frequency modulation of the interference baseband signal, specifically, the interference signal is any waveform signal of a 60Mhz-6Ghz band with a bandwidth of 200M.

According to a specific implementation manner of the embodiment of the present application, the signal generator of the present application may be designed in a manner that an input end thereof is connected to the network port.

In one embodiment, the PCIE card-inserted drone jamming signal generator may further include a drone jamming signal transmitting component, configured to transmit the jamming signal generated by the wideband modulation component. For example, it may be an antenna, in particular, a planar antenna or a horn antenna, whose operating band covers the 60Mhz-6Ghz band.

The high-capacity FPGA component, the 200M bandwidth digital-to-analog conversion component and the broadband modulation component combined circuit are adopted, and the interference signal with the bandwidth of 200M and the arbitrary waveform of 60Mhz-6Ghz can be generated. And the interference signal is generated by a voltage-controlled oscillator in the conventional unmanned aerial vehicle interference device, and the signal has narrow frequency band, slow response speed and single frequency.

Therefore, the embodiment provided by the application aims at the problem that the novel unmanned aerial vehicle adopts frequency hopping remote control signals to communicate so that interference signals generated by the existing interference equipment cannot interfere effectively, the PCIE card-inserted unmanned aerial vehicle interference signal generator is invented, 200M large-bandwidth comb waves can be generated, the frequency hopping remote control signals of the novel anti-interference unmanned aerial vehicle can be effectively suppressed, or the constant-frequency interference signals sent by an upper computer are received in real time to send out the remote control interference signals with the same frequency at a speed of a millisecond level, and the purpose of accurately interfering the unmanned aerial vehicle is achieved.

Corresponding to the above embodiment, referring to fig. 2, an embodiment of the present application further provides an unmanned aerial vehicle jamming method, which is applied to the PCIE card type unmanned aerial vehicle jamming signal generator, and includes:

step S101, a PCIE card-inserting type unmanned aerial vehicle interference signal generator receives PCIE data and generates waveform data through an internal PCIE logic conversion circuit;

step S102, a PCIE card-inserted unmanned aerial vehicle interference signal generator generates an interference baseband signal according to waveform data generated by the internal PCIE logic conversion circuit;

step S103, the interference signal generator of the PCIE card-inserted unmanned aerial vehicle modulates the frequency of the interference baseband signal to generate an interference signal to interfere the unmanned aerial vehicle.

The content in the above method embodiment may be correspondingly executed in the flowchart shown in fig. 2, and details of the part not described in detail in this embodiment refer to the content described in the above embodiment of the PCIE card type drone jamming signal generator, which is not described herein again.

Referring to fig. 3, an embodiment of the present disclosure further provides an electronic device 30, where the electronic device 30 includes a PCIE card-inserted drone jamming signal generator 100, and the electronic device 30 further includes:

at least one processor; and the number of the first and second groups,

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the jamming method of the PCIE card-inserted drone jamming signal generator in the foregoing method embodiments.

The disclosed embodiments also provide a non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the drone jamming method in the aforementioned method embodiments.

The disclosed embodiments also provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the signal processing method in the aforementioned method embodiments.

Referring now to FIG. 3, a schematic diagram of an electronic device 30 suitable for use in implementing embodiments of the present disclosure is shown. The electronic devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., car navigation terminals), and the like, and fixed terminals such as digital TVs, desktop computers, and the like. The electronic device shown in fig. 3 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.

As shown in fig. 3, the electronic device 30 may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 301 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)302 or a program loaded from a storage means 308 into a Random Access Memory (RAM) 303. In the RAM 303, various programs and data necessary for the operation of the electronic apparatus 30 are also stored. The processing device 301, the ROM 302, and the RAM 303 are connected to each other via a bus 304. An input/output (I/O) interface 303 is also connected to bus 304.

Generally, the following devices may be connected to the I/O interface 305: input devices 306 including, for example, a touch screen, touch pad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; an output device 307 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage devices 308 including, for example, magnetic tape, hard disk, etc.; and a communication device 309. The communication means 309 may allow the electronic device 30 to communicate wirelessly or by wire with other devices to exchange data. While the figures illustrate an electronic device 30 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided.

In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication means 309, or installed from the storage means 308, or installed from the ROM 302. The computer program, when executed by the processing device 301, performs the above-described functions defined in the methods of the embodiments of the present disclosure.

It should be noted that the computer readable medium in the present disclosure can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.

The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device.

The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: controlling the duplex unit to switch a transmitting channel of the transmitting unit and a receiving channel of the receiving unit, and isolating the radio-frequency signal generated by the transmitting unit from the receiving unit; and under the condition that a received signal received by a first switch module of the receiving unit is greater than a preset threshold value, controlling a second output end of the first switch module to be conducted with a second input end of the second switch module.

Computer program code for carrying out operations for aspects of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in the embodiments of the present disclosure may be implemented by software or hardware. Where the name of a unit does not in some cases constitute a limitation of the unit itself, for example, the first retrieving unit may also be described as a "unit for retrieving at least two internet protocol addresses".

It should be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (10)

1. The utility model provides a PCIE card-inserted unmanned aerial vehicle jamming signal generator which characterized in that, the generator includes:

the PCIE interface digital circuit assembly is used for receiving PCIE data and generating waveform data through an internal PCIE logic conversion circuit;

the input end of the digital-to-analog conversion component is connected with the output end of the PCIE interface digital circuit component and is used for receiving waveform data generated by the PCIE interface digital circuit component and generating an interference baseband signal;

and the input end of the broadband modulation component is connected with the output end of the digital-to-analog conversion component and is used for modulating the frequency of the interference baseband signal to generate an interference signal.

2. The PCIE card inserted type unmanned aerial vehicle jamming signal generator according to claim 1, wherein the PCIE interface digital circuit module is an FPGA module or a DSP module.

3. The PCIE card type unmanned aerial vehicle jamming signal generator according to claim 1, wherein an input end of the PCIE interface digital circuit component is connected to a PCIE bus, the PCIE bus interface is PCIE x4, and the bandwidth is 20 Gbps.

4. The PCIE card inserted type unmanned aerial vehicle jamming signal generator of claim 1, wherein the digital-to-analog conversion component is 200M bandwidth.

5. The PCIE card inserted type unmanned aerial vehicle jamming signal generator according to claim 1, wherein the jamming signal is any waveform signal of 60Mhz-6Ghz band.

6. The PCIE card type unmanned aerial vehicle jamming signal generator according to claim 1, wherein the waveform data includes one or more of a fixed frequency signal, a frequency sweep signal, and a comb wave signal.

7. The PCIE card inserted type unmanned aerial vehicle jamming signal generator according to claim 1, wherein the jamming unit further comprises an unmanned aerial vehicle jamming signal transmitting component for transmitting the jamming signal generated by the broadband modulation component.

8. The PCIE card type unmanned aerial vehicle jamming signal generator according to claim 1, wherein the unmanned aerial vehicle jamming signal emitting component is a planar antenna or a horn antenna.

9. An electronic device, characterized in that the electronic device comprises a PCIE card-inserted drone jamming signal generator according to any one of claims 1 to 8.

10. A method for interfering a PCIE card-inserted unmanned aerial vehicle interference signal generator is characterized by comprising the following steps:

the PCIE card-inserting type unmanned aerial vehicle interference signal generator receives PCIE data and generates waveform data through an internal PCIE logic conversion circuit;

the PCIE card-inserting type unmanned aerial vehicle interference signal generator generates interference baseband signals according to waveform data generated by the internal PCIE logic conversion circuit;

and the PCIE card-inserted unmanned aerial vehicle interference signal generator modulates the frequency of the interference baseband signal to generate an interference signal to interfere the unmanned aerial vehicle.

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