CN113391648A - Multi-sensor integrated environment monitoring control system based on micro unmanned aerial vehicle - Google Patents

Multi-sensor integrated environment monitoring control system based on micro unmanned aerial vehicle Download PDF

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CN113391648A
CN113391648A CN202110826314.7A CN202110826314A CN113391648A CN 113391648 A CN113391648 A CN 113391648A CN 202110826314 A CN202110826314 A CN 202110826314A CN 113391648 A CN113391648 A CN 113391648A
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module
information
navigation
environment
aerial vehicle
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阴蕊
李嵬
徐欣欣
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CETC Information Science Research Institute
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00—Measuring angles
    • 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
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N25/00—Investigating or analyzing materials by the use of thermal means
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/52—Determining velocity

Abstract

A multisensor integrated environmental monitoring system based on micro unmanned aerial vehicle includes: the system comprises a navigation information sensing module, an environment information sensing module, a signal processing module and an execution module; the inertial navigation module, the satellite navigation module, the magnetometer module and the altimeter module which are responsible for the navigation calculation function adopt a multi-source navigation mode, so that the unmanned aerial vehicle can still work normally under the condition that the GPS is rejected; being responsible for environment perception function have temperature sensing module, atmospheric pressure sensing module, smoke sensing module and image sensing module, integrated multiple environmental sensor, and whether there is danger in the environment at present can be judged to the environmental monitoring system, if there is danger, then start the warning, and the speaker is whistle.

Description

Multi-sensor integrated environment monitoring control system based on micro unmanned aerial vehicle
Technical Field
The invention belongs to the field of application of Internet of things, and particularly relates to a multi-sensor integrated environment monitoring control system based on a micro unmanned aerial vehicle.
Background
Traditional needs rely on artificial environmental monitoring system can't carry out effectual monitoring to dangerous area, and unmanned aerial vehicle can carry multiple environmental monitoring sensor and carry out data acquisition in dangerous region, and the data transmission who will gather through the wireless transmission module on unmanned aerial vehicle receives terminal on the ground, and ground personnel handle and the analysis these data to obtain useful information. In order to improve the endurance and the diversity of functions of the drone, the weight of the drone needs to be reduced as much as possible, and various sensors are integrated on the drone.
Present environmental monitoring control system based on unmanned aerial vehicle ubiquitous shortcoming such as bulky, the function is less still has great promotion space in aspects such as miniaturation, integration and function diversification.
For example, a certain A scheme provides an environmental quality monitoring and equipment protection system of transformer substation based on unmanned aerial vehicle, and this system can monitor environmental quality parameter information such as humiture, noise, smog in transformer substation and the equipment, also can patrol in accident multiple points and the position that is difficult for monitoring through operating unmanned aerial vehicle, and real-time supervision, storage and analysis are carried out on the PC of rethread wireless technology with gained data transmission to the monitor. If the system finds the abnormal parameters, an alarm is sent out in time. However, in the scheme a, the main sensor only includes an environmental sensor, and does not include a navigation information sensing module, and autonomous cruising of the unmanned aerial vehicle cannot be realized.
In a scheme B, data acquisition is carried out on a relevant area by using a mode that an unmanned aerial vehicle carries a coordinator, a terminal node transmits acquired information to the coordinator carried on the unmanned aerial vehicle through a ZigBee network, the coordinator sends the acquired data to a server side by using a mobile GPRS network, the server side carries out data processing, and real-time monitoring on the environmental data of the area is realized through a multifunctional and easily-operated client side. However, the scheme B only has one navigation mode, and navigation is invalid under the conditions that GPS signals are interfered and GPS is rejected, so that position information cannot be provided for the unmanned aerial vehicle.
A scheme C designs a small-size four-rotor unmanned aerial vehicle environment monitoring platform based on various sensors, and practice exploration is carried out from three aspects such as environment monitoring equipment, wireless data transmission and information processing systems. However, the scheme also only adopts GPS navigation, so that the unmanned aerial vehicle cannot be normal under the condition of GPS signal rejection
Therefore, how can make and still can keep work under the environment that the environmental monitoring system based on unmanned aerial vehicle can be complicated, and can all-round gather danger area environmental information, run into extreme environment, start real-time warning, provide sufficient preparation time for personnel withdraw in time, become the technical problem that prior art needs to solve urgently.
Disclosure of Invention
The invention aims to provide a multisensor integrated environment monitoring system based on a micro unmanned aerial vehicle, which adopts a multisource navigation mode to ensure that the unmanned aerial vehicle can still work normally under the condition of GPS rejection. Meanwhile, various environment sensors are integrated, environment information of a dangerous area is collected, real-time alarm can be started when the environment meets extreme environments, and sufficient preparation time is provided for people to evacuate in time.
In order to achieve the purpose, the invention adopts the following technical scheme:
a multisensor integrated environmental monitoring system based on micro unmanned aerial vehicle, includes:
the system comprises a navigation information sensing module, an environment information sensing module, a signal processing module and an execution module;
the navigation information perception module comprises an inertial navigation module, a satellite navigation module, a magnetometer module and an altimeter module which are responsible for navigation calculation functions;
the environment information sensing module comprises a temperature sensing module, an air pressure sensing module, a smoke sensing module and an image sensing module which are responsible for the environment sensing function;
the signal processing module comprises a multi-source navigation information fusion module, an environmental information fusion module and a signal processing central control module,
the multi-source navigation information fusion module is used for acquiring information of the navigation information perception module, performing fusion calculation on the multi-source navigation information according to environmental conditions to obtain navigation information, and sending the navigation information to the signal processing center module;
the environment information fusion module is used for acquiring the temperature, air pressure, smoke and information acquired by the image sensor and acquired in the environment information sensing module and sending the information to the signal processing center module;
the signal processing center module is used for transmitting the navigation information of the unmanned aerial vehicle to a flight control system and a wireless transmission module; transmitting the airplane control instruction to a flight control system module; transmitting the environmental temperature, the air pressure temperature, the smoke concentration and the image information to an environmental monitoring system and a wireless transmission module;
the execution module comprises a flight control system, an environment monitoring module and an alarm module;
the flight control system is used for executing according to a flight control instruction;
and the environment monitoring module is used for judging whether the current environment of the unmanned aerial vehicle is dangerous or not and determining whether the alarm module is started or not.
Optionally, the sensor function in the navigation information sensing module responsible for the navigation computation function is specifically:
1) the inertial navigation module calculates the information of the attitude, the position and the speed of the carrier by measuring the three-axis angular rate and the three-axis acceleration of the output carrier through strapdown;
2) GPS satellite navigation provides position, speed and time information;
3) the magnetometer calculates magnetic azimuth information by measuring the magnetic field intensity of three axes of the carrier, and provides high-precision, stable and available azimuth information for the inertial navigation module;
4) the altimeter outputs altitude information to correct altitude errors for inertial navigation.
Optionally, for the multi-source navigation information fusion module, when the GPS signal is blocked or shielded, a navigation mode of information fusion of inertial navigation and magnetometer with the altimeter is adopted; when the GPS signal is strong, a navigation mode of fusing GPS and inertial navigation information is adopted, and the calculated navigation information comprises real-time longitude and latitude, height, roll attitude, pitch attitude, azimuth attitude and time information of the unmanned aerial vehicle.
Optionally, the sensor function in the environment information sensing module responsible for the environment sensing function is specifically:
1) the temperature sensor outputs the instantaneous temperature of the environment where the unmanned aerial vehicle is located;
2) the air pressure sensor outputs the instantaneous air pressure of the environment where the unmanned aerial vehicle is located;
3) the smoke sensor outputs the smoke concentration of the environment where the unmanned aerial vehicle is located;
4) the image sensor realizes the acquisition of environmental information, and digitalizes and preprocesses the environmental information.
Optionally, the environment monitoring module is used for judging whether the current environment of the unmanned aerial vehicle is dangerous or not, setting a threshold value according to related environment parameters, combining data analysis to realize an automatic early warning function, if the current environment of the unmanned aerial vehicle is dangerous, starting an alarm, and sounding a horn through a loudspeaker, if the current environment of the unmanned aerial vehicle is dangerous, the loudspeaker is not started.
Optionally, the flight control system includes an autonomous cruise mode and a manual control mode, and the autonomous cruise mode is started if an autonomous cruise instruction is received, and the manual control mode is started if a manual control instruction is received.
Optionally, the system further comprises a wireless transmission module 5, which is used for transmitting the received information to the ground receiving terminal of the unmanned aerial vehicle, receiving the airplane control instruction of the ground receiving terminal of the unmanned aerial vehicle, and sending the instruction to the signal processing center.
Optionally, a power module 6 is further included for supplying power to each module through the signal transmission hub.
The invention has the following advantages:
(1) the unmanned aerial vehicle navigation system comprises a navigation information sensing module and an environment information sensing module, wherein the inertial navigation module, the satellite navigation module, the magnetometer module and the altimeter module are responsible for navigation calculation functions, and the unmanned aerial vehicle still can normally work under the condition that a GPS is rejected by adopting a multi-source navigation mode; the temperature sensing module, the air pressure sensing module, the smoke sensing module and the image sensing module are responsible for the environment sensing function, and various environment sensors are integrated.
(2) The environment information fusion module sends information collected by the temperature sensor, the air pressure sensor, the smoke sensor and the image sensor to the signal processing center module. Signal processing center module transmits ambient temperature, atmospheric pressure temperature, smog concentration, image information to environment monitoring system and wireless transmission module, and environment monitoring system judges whether there is danger in unmanned aerial vehicle current environment, if the temperature is low excessively, atmospheric pressure is low excessively, smog concentration is too big etc. if there is danger, then start the warning, the speaker whistles.
Drawings
Fig. 1 is a block diagram of a microminiature drone based multi-sensor integrated environmental monitoring system according to the present invention.
The reference numerals in the drawings respectively refer to the technical features:
1. a signal processing module; 2. a navigation information perception module; 3. an environment information perception module; 4. an execution module; 5. a wireless transmission module; 6. and a power supply module.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
The multi-sensor integrated environment monitoring system based on the micro unmanned aerial vehicle is based on an unmanned aerial vehicle system, adopts a multi-source navigation mode, comprehensively performs navigation in various modes such as inertial navigation, satellite navigation, magnetometer and altimeter, and ensures that the unmanned aerial vehicle can still normally work under the condition that the satellite navigation such as GPS is refused. Meanwhile, various environment sensors including temperature, air pressure, smoke and image sensors are integrated, so that the environmental information of a dangerous area can be collected, real-time alarm can be started when the environment meets extreme environments, and sufficient preparation time is provided for people to evacuate in time.
Specifically, referring to fig. 1, there is shown a microminiature drone-based multi-sensor integrated environmental monitoring system according to the present invention, comprising:
the system comprises a navigation information perception module 2, an environmental information perception module 3, a signal processing module 1, an execution module 4, a wireless transmission module 5 and a power supply module 6;
the navigation information perception module 2 comprises an inertial navigation module, a satellite navigation module, a magnetometer module and an altimeter module which are responsible for navigation calculation functions;
the environment information sensing module 3 comprises a temperature sensing module, an air pressure sensing module, a smoke sensing module and an image sensing module which are responsible for the environment sensing function;
the signal processing module 1 comprises a multi-source navigation information fusion module, an environmental information fusion module and a signal processing central hub module,
the multi-source navigation information fusion module is used for acquiring the information of the navigation information perception module 2, carrying out fusion calculation on the multi-source navigation information according to environmental conditions to obtain navigation information, and sending the navigation information to the signal processing center module;
the environment information fusion module is used for acquiring the temperature, air pressure, smoke and information acquired by the image sensor and acquired in the environment information sensing module 3 and sending the information to the signal processing center module;
the signal processing center module is used for transmitting the navigation information of the unmanned aerial vehicle to a flight control system and a wireless transmission module; transmitting the airplane control instruction to a flight control system module; transmitting the environmental temperature, the air pressure temperature, the smoke concentration and the image information to an environmental monitoring system and a wireless transmission module;
the execution module 4 comprises a flight control system module, an environment monitoring module and an alarm module;
the flight control system is used for executing according to a flight control instruction;
and the environment monitoring module is used for judging whether the current environment of the unmanned aerial vehicle is dangerous or not and determining whether the alarm module is started or not.
The sensor function in the navigation information perception module responsible for the navigation calculation function is specifically as follows:
1) the inertial navigation module calculates the information of the attitude, the position and the speed of the carrier by measuring the three-axis angular rate and the three-axis acceleration of the output carrier through strapdown;
2) GPS satellite navigation provides position, speed and time information;
3) the magnetometer calculates magnetic azimuth information by measuring the magnetic field intensity of three axes of the carrier, and provides high-precision, stable and available azimuth information for the inertial navigation module;
4) the altimeter outputs altitude information to correct altitude errors for inertial navigation.
For the multi-source navigation information fusion module, when the GPS signal is shielded or shielded, a navigation mode of information fusion of inertial navigation and a magnetometer and an altimeter is adopted; when the GPS signal is strong, a navigation mode of fusing GPS and inertial navigation information is adopted, and the calculated navigation information comprises real-time longitude and latitude, height, roll attitude, pitch attitude, azimuth attitude and time information of the unmanned aerial vehicle.
The sensor function in the environment information sensing module responsible for the environment sensing function is specifically as follows:
1) the temperature sensor outputs the instantaneous temperature of the environment where the unmanned aerial vehicle is located;
2) the air pressure sensor outputs the instantaneous air pressure of the environment where the unmanned aerial vehicle is located;
3) the smoke sensor outputs the smoke concentration of the environment where the unmanned aerial vehicle is located;
4) the image sensor realizes the acquisition of environmental information, and digitalizes and preprocesses the environmental information.
The environment monitoring module is used for judging whether the current environment of the unmanned aerial vehicle is dangerous or not, setting a threshold value according to related environment parameters, realizing an automatic early warning function by combining data analysis, and providing more coping time for a user when the environment changes. If the temperature is too low, the air pressure is too low, the smoke concentration is too high and the like, if danger exists, an alarm is started, and a loudspeaker buzzes. If the temperature, air pressure and smoke concentration are within the threshold range, the speaker is not activated.
The flight control system is used for executing according to flight control instructions and comprises an autonomous cruise mode and a manual control mode, wherein the autonomous cruise mode is started if the autonomous cruise instructions are received, and the manual control mode is started if the manual control instructions are received.
The wireless transmission module 5 is used for transmitting the received information to the ground receiving terminal of the unmanned aerial vehicle, receiving an airplane control command of the ground receiving terminal of the unmanned aerial vehicle and sending the command to the signal processing center;
and the power supply module 6 is used for supplying power to each module through the signal transmission center.
Modified example 1: in the specific embodiment of the present invention, the satellite navigation is exemplified by GPS navigation, but the present invention is not limited thereto, and various possibly shielded satellite navigation modes including beidou navigation are within the protection scope of the present invention.
Modified example 2: in the embodiment of the present invention, a micro unmanned aerial vehicle is taken as an example, but the present invention is not limited thereto, and various types of aircrafts capable of realizing unmanned flight are possible.
Therefore, the invention has the following advantages:
(1) the unmanned aerial vehicle navigation system comprises a navigation information sensing module and an environment information sensing module, wherein the inertial navigation module, the satellite navigation module, the magnetometer module and the altimeter module are responsible for navigation calculation functions, and the unmanned aerial vehicle still can normally work under the condition that a GPS is rejected by adopting a multi-source navigation mode; the temperature sensing module, the air pressure sensing module, the smoke sensing module and the image sensing module are responsible for the environment sensing function, and various environment sensors are integrated.
(2) The environment information fusion module sends information collected by the temperature sensor, the air pressure sensor, the smoke sensor and the image sensor to the signal processing center module. Signal processing center module transmits ambient temperature, atmospheric pressure temperature, smog concentration, image information to environment monitoring system and wireless transmission module, and environment monitoring system judges whether there is danger in unmanned aerial vehicle current environment, if the temperature is low excessively, atmospheric pressure is low excessively, smog concentration is too big etc. if there is danger, then start the warning, the speaker whistles.
It will be apparent to those skilled in the art that the various elements or steps of the invention described above may be implemented using a general purpose computing device, they may be centralized on a single computing device, or alternatively, they may be implemented using program code that is executable by a computing device, such that they may be stored in a memory device and executed by a computing device, or they may be separately fabricated into various integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
While the invention has been described in further detail with reference to specific preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (8)

1. A multisensor integrated environmental monitoring system based on micro unmanned aerial vehicle, includes:
the system comprises a navigation information sensing module, an environment information sensing module, a signal processing module and an execution module;
the navigation information perception module comprises an inertial navigation module, a satellite navigation module, a magnetometer module and an altimeter module which are responsible for navigation calculation functions;
the environment information sensing module comprises a temperature sensing module, an air pressure sensing module, a smoke sensing module and an image sensing module which are responsible for the environment sensing function;
the signal processing module comprises a multi-source navigation information fusion module, an environmental information fusion module and a signal processing central control module,
the multi-source navigation information fusion module is used for acquiring information of the navigation information perception module, performing fusion calculation on the multi-source navigation information according to environmental conditions to obtain navigation information, and sending the navigation information to the signal processing center module;
the environment information fusion module is used for acquiring the temperature, air pressure, smoke and information acquired by the image sensor and acquired in the environment information sensing module and sending the information to the signal processing center module;
the signal processing center module is used for transmitting the navigation information of the unmanned aerial vehicle to a flight control system and a wireless transmission module; transmitting the airplane control instruction to a flight control system module; transmitting the environmental temperature, the air pressure temperature, the smoke concentration and the image information to an environmental monitoring system and a wireless transmission module;
the execution module comprises a flight control system, an environment monitoring module and an alarm module;
the flight control system is used for executing according to a flight control instruction;
and the environment monitoring module is used for judging whether the current environment of the unmanned aerial vehicle is dangerous or not and determining whether the alarm module is started or not.
2. The environmental monitoring system of claim 1, wherein:
the sensor function in the navigation information perception module responsible for the navigation calculation function is specifically as follows:
1) the inertial navigation module calculates the information of the attitude, the position and the speed of the carrier by measuring the three-axis angular rate and the three-axis acceleration of the output carrier through strapdown;
2) GPS satellite navigation provides position, speed and time information;
3) the magnetometer calculates magnetic azimuth information by measuring the magnetic field intensity of three axes of the carrier, and provides high-precision, stable and available azimuth information for the inertial navigation module;
4) the altimeter outputs altitude information to correct altitude errors for inertial navigation.
3. The environmental monitoring system of claim 2, wherein:
for the multi-source navigation information fusion module, when the GPS signal is shielded or shielded, a navigation mode of information fusion of inertial navigation and a magnetometer and an altimeter is adopted; when the GPS signal is strong, a navigation mode of fusing GPS and inertial navigation information is adopted, and the calculated navigation information comprises real-time longitude and latitude, height, roll attitude, pitch attitude, azimuth attitude and time information of the unmanned aerial vehicle.
4. The environmental monitoring system of claim 1, wherein:
the sensor function in the environment information sensing module responsible for the environment sensing function is specifically as follows:
1) the temperature sensor outputs the instantaneous temperature of the environment where the unmanned aerial vehicle is located;
2) the air pressure sensor outputs the instantaneous air pressure of the environment where the unmanned aerial vehicle is located;
3) the smoke sensor outputs the smoke concentration of the environment where the unmanned aerial vehicle is located;
4) the image sensor realizes the acquisition of environmental information, and digitalizes and preprocesses the environmental information.
5. The environmental monitoring system of claim 3 or 4, wherein:
the environment monitoring module is used for judging whether the current environment of the unmanned aerial vehicle is dangerous or not, setting a threshold value according to related environment parameters, realizing an automatic early warning function by combining data analysis, starting an alarm if the current environment of the unmanned aerial vehicle is dangerous, and whistling a speaker if the current environment of the unmanned aerial vehicle is dangerous, and not starting the speaker if the current environment of the unmanned aerial vehicle is dangerous.
6. The environmental monitoring system of claim 5, wherein:
the flight control system comprises an autonomous cruise mode and a manual control mode, wherein the autonomous cruise mode is started if an autonomous cruise command is received, and the manual control mode is started if a manual control command is received.
7. The environmental monitoring system of claim 5, wherein:
still include wireless transmission module 5 for transmit the information received to unmanned aerial vehicle ground receiving terminal, and receive unmanned aerial vehicle ground receiving terminal's aircraft control command, send this instruction to the signal processing maincenter.
8. The environmental monitoring system of claim 5, wherein:
and the power supply module 6 is used for supplying power to each module through the signal transmission center.
CN202110826314.7A 2021-07-21 2021-07-21 Multi-sensor integrated environment monitoring control system based on micro unmanned aerial vehicle Pending CN113391648A (en)

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Application publication date: 20210914