CN113853637A

CN113853637A - Remote control processing method, control device and control equipment for movable platform

Info

Publication number: CN113853637A
Application number: CN202080035325.7A
Authority: CN
Inventors: 张志鹏; 高建南; 刘欢
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2020-10-13
Filing date: 2020-10-13
Publication date: 2021-12-28
Also published as: WO2022077210A1

Abstract

The embodiment of the invention provides a remote control processing method, a control device and control equipment for a movable platform. The remote control processing method for the movable platform comprises the following steps: acquiring current position information of the movable platform and data transmission quality information between the movable platform and a remote controller; and if the current position information of the movable platform meets the first condition and the data transmission quality information meets the second condition, sending a prompt signal, wherein the prompt signal is used for prompting the adjustment of the signal transmission angle of the antenna of the remote controller. By adopting the embodiment of the invention, the communication quality between the remote controller and the movable platform can be improved.

Description

Remote control processing method, control device and control equipment for movable platform

Technical Field

The present invention relates to the field of communications technologies, and in particular, to a remote control processing method, a control device, and a control apparatus for a mobile platform.

Background

With the improvement of living standard, it is a development trend to use a control device (such as a remote controller) to control a movable platform (such as an unmanned aerial vehicle, a robot, etc.) to replace human work in dangerous and complex work environments.

The remote controller is provided with an antenna and controls the unmanned aerial vehicle through a data signal transmitted by the antenna. The antenna directional diagram formed by the data signals transmitted by the antenna has pits, and when the pits face the unmanned aerial vehicle, the communication effect between the unmanned aerial vehicle and the remote controller is poor. For example, the remote controller is a device provided with a dipole antenna, and in order to meet the requirement of the unmanned aerial vehicle for flying away, a stronger coverage area of a data signal transmitted by the dipole antenna generally points to distant high altitude, so that an overhead area of the remote controller is often a weak coverage area (namely a pit), and when the unmanned aerial vehicle moves to the overhead area, the communication effect between the unmanned aerial vehicle and the remote controller is poor. Therefore, in the process of controlling the unmanned aerial vehicle by using the remote controller, the signal transmitting angle of the antenna is continuously adjusted according to the position of the unmanned aerial vehicle, and the pits are prevented from facing the unmanned aerial vehicle.

Disclosure of Invention

The embodiment of the invention provides a remote control processing method, a control device and control equipment for a movable platform, which can improve the communication quality between a remote controller and the movable platform.

In a first aspect, an embodiment of the present invention provides a method for processing a remote control of a movable platform, where the method is applicable to a remote controller, the remote controller is provided with an antenna for transmitting a data signal, and the remote controller interacts data with the movable platform through the antenna, and the method includes:

acquiring current position information of the movable platform and data transmission quality information between the movable platform and the remote controller;

and if the current position information of the movable platform meets a first condition and the data transmission quality information meets a second condition, sending a prompt signal, wherein the prompt signal is used for prompting the adjustment of the signal transmission angle of the antenna of the remote controller.

In a second aspect, an embodiment of the present invention provides a control apparatus, including: a storage device and a processor;

program instructions are stored in the storage device;

the processor, calling the program instructions, is configured to:

In a third aspect, an embodiment of the present invention provides a control apparatus, including: a memory and a processor;

the memory for storing a computer program;

the processor, invoking the computer program, is to:

In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, in which computer-readable instructions are stored, and when executed by a processor, the computer-readable instructions cause the processor to execute the above-mentioned remote control processing method for a movable platform.

In the embodiment of the invention, on one hand, whether the movable platform is positioned in the overhead area is detected by acquiring the current position information of the movable platform, and on the other hand, the data transmission quality information (including image transmission quality, video transmission quality and the like) of the remote controller and the movable platform in the data transmission process is monitored to comprehensively judge whether the communication between the remote controller and the movable platform is obviously influenced when the movable platform is positioned in the overhead area; if the communication is obviously influenced when the movable platform is positioned in the overhead area, a prompt signal is sent to prompt the adjustment of the signal transmitting angle of the antenna. Therefore, signal loss caused when the movable platform is positioned in the overhead area can be relatively avoided, and the communication quality between the remote controller and the movable platform is ensured.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, 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 schematic diagram of an antenna pattern provided by an exemplary embodiment of the present application;

FIG. 2 is a block diagram of a remote processing system for a movable platform according to an exemplary embodiment of the present application;

FIG. 3 is a flow chart illustrating a method for remote control processing of a movable platform according to an exemplary embodiment of the present application;

FIG. 4 is a schematic diagram of a method for calculating current position information of a movable platform provided by an exemplary embodiment of the present application;

FIG. 5 is a schematic diagram of another method for remote processing of a movable platform provided in an exemplary embodiment of the present application;

fig. 6 is a schematic diagram of determining a current signal transmission angle of an antenna according to an exemplary embodiment of the present application;

FIG. 7 is a schematic illustration of a target angle range provided by an exemplary embodiment of the present application;

FIG. 8 is a schematic structural diagram of a control device provided in an exemplary embodiment of the present application;

fig. 9 is a schematic structural diagram of a control device according to an exemplary embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. 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 invention.

The embodiment of the invention relates to a remote controller, wherein the remote controller can be equipment matched with a movable platform (such as an unmanned aerial vehicle) for use. An antenna for transmitting a data signal (such as radio) is often disposed on the remote controller, so that the remote controller can interact data with the movable platform through the antenna; for example: when the unmanned aerial vehicle is located in the signal coverage range of the antenna, the remote controller can receive images or video streams (including image frames) collected by the unmanned aerial vehicle, control the flight attitude, the flight speed and the like of the unmanned aerial vehicle, and the like.

The antenna may be divided into many types according to different attributes, for example, a Dipole antenna, a monopole antenna, and the like, and the following description will be given by taking the antenna provided on the remote controller as a Dipole antenna (Dipole antenna), which is not limited to the embodiment of the present application. The characteristics of the antenna can be reflected by an antenna pattern, and the antenna pattern can be used for characterizing the distribution pattern of the power or the field intensity of electromagnetic waves radiated by the antenna in each direction in space. Referring to fig. 1, fig. 1 is a schematic diagram of an antenna pattern provided in an exemplary embodiment of the present application; the antenna pattern is a three-dimensional pattern in which there is a weak coverage area of the signal in the Z-direction and there is a theoretical null at which the signal coverage is 0. If the unmanned aerial vehicle is located in a signal weak coverage area in the Z-axis direction, the remote controller is likely to lose control of the unmanned aerial vehicle. And the closer to the plane position surrounded by the XY axes from the Z axis, the stronger the signal coverage is, and better data transmission quality can be achieved between the remote controller and the unmanned aerial vehicle in the area.

It can be understood that, in order to take care of the flying-away requirement of the unmanned aerial vehicle, the area with better signal coverage of the antenna is generally pointed to high altitude at a far place, and at this time, the overhead area of the remote controller is often the area with weak signal coverage of the antenna, so that when the movable platform is located in the overhead area, the improvement of the data transmission quality becomes a more important problem.

In order to improve the communication quality between the unmanned aerial vehicle and a remote controller when the unmanned aerial vehicle is positioned in a head top area, the embodiment of the invention provides a remote control processing scheme for a movable platform; in the scheme, the remote controller can acquire the current position information of the movable platform and the data transmission quality between the movable platform and the remote controller; if the current position information of the movable platform meets a first condition (namely the movable platform is positioned in the overhead area of the remote controller) and the data transmission quality meets a second condition (namely the data transmission quality is smaller than a data transmission quality threshold value and indicates that the data transmission quality is poor), sending a prompt signal to prompt the adjustment of a signal transmitting angle of an antenna arranged on the remote controller so as to avoid the overhead area as a signal weak coverage area of the antenna. This may relatively improve the quality of communication between the remote control and the movable platform when the movable platform is in the overhead region.

The following describes in detail a remote control processing scheme for a movable platform according to an embodiment of the present application with reference to the accompanying drawings.

Referring to fig. 2, fig. 2 is a schematic structural diagram of a remote processing system for a movable platform according to an exemplary embodiment of the present application; as shown in fig. 2, the system mainly includes: remote controller 201, movable platform 202. The antenna 2011 is arranged on the remote controller 101, and the antenna 2011 can be used for transmitting data signals, so that when the movable platform is located in a data signal coverage area, the remote controller 201 can better control the movement of the movable platform. The remote controller 201 is further provided with a measuring device 203, and the measuring device 203 may include, but is not limited to: smart phones, personal computers, and the like; the remote controller 201 and the measurement device 203 can establish a communication connection through an interface 204 (such as a usb interface) to realize data transmission. The remote controller 201 further includes an antenna adjusting device, which can be used to adjust the signal transmission angle of the antenna disposed on the remote controller.

As shown in fig. 2, the overhead area of the remote control may refer to: a conical region consisting of a circular surface having the vertex of the remote controller 201, the direction of the Z-axis direction, and the radius of r.

Specifically, the remote controller 201 may receive the current position information of the movable platform 202 sent by the movable platform 202, and acquire data transmission quality information between the remote controller 201 and the movable platform 202; if the remote controller 201 detects that the current position information of the movable platform 202 meets the first condition and the data transmission quality information between the movable platform 202 and the remote controller 201 meets the second condition, the remote controller 202 may send a prompt signal for prompting the adjustment of the signal transmission angle of the antenna disposed on the remote controller. The manner of sending the prompt signal by the remote controller 201 may include: (1) the remote controller 201 may send a prompt signal to the measurement device 203, and the measurement device 203 generates a prompt message to prompt a user to adjust the signal transmission angle of the antenna. (2) The remote controller 201 may also send a prompt signal to the antenna adjustment device, which performs an adjustment processing operation on the signal transmission angle of the antenna. By adopting the embodiment of the invention, the signal loss caused when the movable platform is positioned in the head top area can be relatively avoided, and the communication quality between the remote controller and the movable platform is ensured.

It should be noted that what has been described above is directed to adjusting the signal transmission angle of the antenna of the remote controller when the movable platform is in the overhead area, so as to improve the communication quality when the movable platform is in the overhead area. It will be appreciated that the null direction of the antenna (i.e., the Z-axis direction in fig. 1) should be avoided from being directed toward the movable platform regardless of the region in which the movable platform is located. For example, if the movable platform is located at infinity (e.g., if the distance between the movable platform and the remote control is too far to ignore the height difference, the movable platform is level with the remote control), then the antenna should be adjusted (with the remote control facing the movable platform) to avoid the infinity being a signal-poor coverage area of the antenna. In the embodiment of the present application, the movable platform is located in the overhead area, and a remote control processing scheme of the movable platform is introduced, which is not limited to the embodiment of the present application.

Referring to fig. 3, fig. 3 is a flowchart illustrating a method for remotely controlling a movable platform according to an exemplary embodiment of the present application; the remote control processing scheme for the movable platform can be executed by the remote controller 201 in the system shown in fig. 2, and the scheme can include steps S301 to S302. Wherein:

s301, acquiring current position information of the movable platform and data transmission quality information between the movable platform and the remote controller.

In one embodiment, the current position information of the movable platform may be obtained directly (i.e., without calculation from other relevant data). For example, the current position information of the movable platform may include, but is not limited to: the position information of the mobile platform is GPS (Global Positioning System), and the position relationship between the mobile platform and the remote controller can be directly obtained without calculation processing.

In another embodiment, the current position information of the movable platform is calculated by the remote controller based on the obtained related information, where the related information may include: height information and positioning information of the movable platform. The height information may refer to a height distance between a horizontal plane where the remote controller is located and a horizontal plane where the movable platform is located, and the positioning information may refer to a linear distance between the remote controller and the movable platform.

Specifically, the remote controller may receive height information and positioning information transmitted from the movable platform, for example, the information may be obtained from an OSD (on screen menu adjustment mode); obtaining the distance between the movable platform and the remote controller according to the positioning information, wherein the distance refers to the distance between the movable platform and the remote controller on the horizontal line; thus, based on the height information of the movable platform and the distance between the movable platform and the remote controller, the current position information of the movable platform can be determined. The current position information of the movable platform may include relative angle information between the movable platform and the remote controller, the relative angle information between the movable platform and the remote controller is an included angle between a connection line between the movable platform and the remote controller and a vertical line, and the vertical line is perpendicular to the horizontal plane.

Referring to fig. 4, fig. 4 is a schematic diagram illustrating a method for calculating current position information of a movable platform according to an exemplary embodiment of the present application; as shown in fig. 4, the identifier C represents a remote controller, and the identifier a represents a movable platform, where the height information of the movable platform corresponds to a height h (i.e., a line segment BC), and the positioning information of the movable platform corresponds to a linear distance s; calculating to obtain a horizontal distance d between the remote controller and the movable platform according to the height h and the linear distance s; the relative angle information between the movable platform and the remote controller is: the angle between the connecting line AC and the vertical line BC is the angle θ between the line segment BC and the line segment AC as shown in fig. 4, and in this case, θ is arctan (d/h).

It is to be understood that the related information for calculating the current position information of the movable platform is not limited to the height information and the positioning information described above, and the current position information of the movable platform can still be calculated through other related information between the movable platform and the remote controller. For example, θ ═ arctan (d/h) can be directly calculated from the height information of the movable platform (i.e., h) and the horizontal distance between the movable platform and the remote controller (i.e., d). The embodiment of the present application does not limit the manner of calculating the current position information of the movable platform.

In addition, the remote controller can acquire data transmission quality information between the movable platform and the remote controller. The data transmission quality information may be used to determine the quality of the map transmission (i.e., the quality of the data transmission) between the movable platform and the remote controller. Data transmission quality information may include, but is not limited to: signal quality data and data frame quality information, wherein: (1) the signal quality data may include: data SIGNAL Strength and data SIGNAL-to-NOISE RATIO (SNR), which may include RSSI (Received SIGNAL Strength); the data Signal strength may also include RSRP (Reference Signal Receiving Power). (2) The data frame quality information may include, but is not limited to: retransmission ratio, code rate, and number of image frame requests, etc. The retransmission ratio may refer to the number of retransmission image frames (the transmission times is greater than 1) in the first period; the code rate may refer to the number of data bits transmitted per unit time when data is transmitted; the number of image frame requests may refer to the number of requests for acquiring the same image frame during the second period.

S302, if the current position information of the movable platform meets a first condition and the data transmission quality information meets a second condition, sending a prompt signal, wherein the prompt signal is used for prompting the adjustment of the signal emission angle of the antenna of the remote controller.

In one embodiment, if the current location information of the movable platform is GPS information, the first condition that the current location information of the movable platform satisfies may be: the received position information of the movable platform satisfies the configuration position information. The configuration position information may be position information obtained through a calibration test in advance, and when the position information of the movable platform meets the configuration position information, it indicates that the movable platform is located in the overhead area at the moment.

In another embodiment, if the current position information of the movable platform is calculated based on the height information and the positioning information, the first condition that the current position information of the movable platform satisfies may be: the angle value of the relative angle information between the movable platform and the remote controller is less than the angle threshold value. The angle threshold may be a threshold angle value obtained through calibration test in advance, for example, the threshold angle value Θ is 30 °, and when the angle value corresponding to the relative angle information (i.e., an included angle between a connection line between the movable platform and the remote controller and a vertical line) is less than 30 °, the movable platform is located in a head top area of the remote controller, and the movable platform may lose a signal.

In one embodiment, the data transmission quality information satisfying the second condition may include the following cases: (1) the data signal strength is less than a strength threshold, the data signal strength comprising a received signal strength and/or a reference signal strength; the intensity threshold is a threshold a, for example, the threshold a is-95 dB; when the intensity of the data signal is smaller than the threshold value A, the graph mass transfer quantity between the movable platform and the remote controller is poor. And/or, (2) the data signal-to-noise ratio is less than the signal-to-noise ratio threshold; the data snr is a ratio of power of an output signal of the amplifier to power of noise output at the same time, where the snr threshold is a threshold B, for example, the threshold B is 3 dB; and when the signal-to-noise ratio of the data is lower than the signal-to-noise ratio threshold value B, the mass transfer quantity of the image between the movable platform and the remote controller is poor. And/or, (3) in the first period, the retransmission ratio is greater than the retransmission threshold; here, the retransmission refers to repeatedly transmitting a certain data (such as an image frame), where the retransmission threshold is a threshold value C, for example, the threshold value C is 20%, and the first period T1 is 200 ms; when the retransmission ratio (or retransmission subframe) of certain data between the movable platform and the remote controller is larger than the retransmission threshold value, the graph mass transfer quantity between the remote controller and the movable platform does not meet the requirement, and the graph mass transfer quantity is poor. And/or, (4) the code rate is smaller than a code rate threshold; the code rate may refer to the number of data bits transmitted in unit time during data transmission, and for an audio, the higher the code rate is, the smaller the compression ratio is, the smaller the sound quality loss is, and the closer the sound quality to the sound source is, the threshold value of the code rate is a threshold value D, for example, the threshold value D is 3 Mbps; therefore, when the transmission code rate between the movable platform and the remote controller is smaller than the code rate threshold value, the graph mass transfer quantity between the movable platform and the remote controller is poor. And/or, (5) during the second period, the number of image frame requests is greater than a number threshold; the number threshold is a threshold E, for example, the threshold E is 2, the second period T2 is 2s, for example, in 2s, the number of requests for a certain image frame is 20, the number threshold is 2, and then 20 is greater than 2, which means that the number of requests for an image frame is greater than the number threshold, and it can be determined that the transmission quality between the remote controller and the movable platform is poor.

Based on the above description, when the current position information of the movable platform satisfies the first condition, it indicates that the movable platform is in the overhead area of the remote controller, and at this time, the movable platform may face the risk of losing signals; when the current position information of the movable platform is determined to meet the first condition, it is detected that the data transmission quality information between the remote controller and the movable platform meets a second condition, that is, the data transmission quality does not meet the data transmission requirement, for example, when the image transmission quality does not meet the image transmission condition, the image transmission quality is poor. Under the two conditions, the remote controller can judge that the reason that the current communication quality is poor is probably that the movable platform is positioned in the overhead area, and the overhead area is probably the signal weak coverage area of the antenna; the remote controller can send out a prompt signal which is used for prompting the adjustment of the signal transmitting angle of the antenna of the remote controller.

In one implementation, the remote controller includes an antenna adjusting device, and the antenna adjusting device is configured to adjust a signal transmission angle of an antenna provided on the remote controller. At this time, the process of sending out the prompt signal by the remote controller may include: the remote controller sends the prompt signal to the antenna adjusting device. On one hand, the antenna adjusting device comprises a motor, and the remote controller can control the motor to adjust the signal transmitting angle of the antenna based on the prompt signal. For example, the alert signal may be used to indicate that the antenna is adjusted 5 ° clockwise, and the motor may automatically rotate the antenna 5 ° clockwise. On the other hand, the prompt signal can also be output on the remote controller, for example, displayed on the remote controller in the form of a signal lamp to remind the user of adjusting the signal emission angle of the antenna, or displayed on the display screen of the remote controller in the form of a message to remind the user of adjusting the signal emission angle of the antenna. Accordingly, the remote controller may detect a response operation of the user to the prompt signal, for example, the response operation may be that the user operates a remote control stick on the remote controller to adjust the antenna, or that the user deletes, updates, and so on a display screen of the remote controller, the signal transmission angle for the antenna; at this time, the remote controller may control the motor to adjust the signal transmission angle of the antenna based on the response operation of the user.

In another embodiment, a terminal (i.e., a measuring device, which may be a smart phone, a computer, etc.) is further mounted on the remote controller, and the remote controller and the terminal are in communication through a wireless or wired manner (e.g., usb interface). At this time, the remote controller may generate a first prompt message according to the prompt signal, and send the first prompt message to the terminal, where the first prompt message instructs the terminal to prompt the user to adjust the signal transmission angle of the antenna. After a user sees the first prompt message from the terminal, the signal emission angle of the antenna is adjusted, so that the movable platform is prevented from falling into a weak coverage area of a signal.

In the embodiment of the invention, whether the movable platform is positioned in the overhead area of a user or not is detected by acquiring the current position information of the movable platform, and the data transmission quality of the remote controller and the movable platform in the data transmission process is monitored, so that whether the data transmission quality between the remote controller and the movable platform is obviously influenced or not when the movable platform is positioned in the overhead area is comprehensively judged; and if the data transmission quality is obviously influenced when the movable platform is positioned in the overhead area, sending a prompt signal to prompt the adjustment of the signal transmission angle of the antenna. Therefore, signal loss caused when the movable platform is positioned in the overhead area can be relatively avoided, and the communication quality between the remote controller and the movable platform is ensured.

Referring to fig. 5, fig. 5 is a schematic diagram illustrating another remote control processing method for a movable platform according to an exemplary embodiment of the present application; the remote control processing scheme for the remote controller may be performed by the remote controller 201 in the system shown in fig. 2, and may include steps S501 to S507. Wherein:

s501, obtaining the current position information of the movable platform.

S502, judging whether the current position information of the movable platform meets a first condition.

S503, if the first condition is met, acquiring data transmission quality information between the remote controller and the movable platform.

S504, whether the data transmission quality information meets a second condition is judged.

It should be noted that, for the specific implementation process of steps S501 to S504, reference may be made to the related description of the specific implementation process shown in steps S301 to S302 in the embodiment shown in fig. 3, which is not described herein again.

Through the implementation process, the movable platform can be determined to be located in the overhead area, and the image transfer quantity is poor, and under the condition, the embodiment of the application also supports the detection of whether the image transfer quality is poor due to interference signals; if the interference signal exists, the influence of the interference signal is reduced, whether the image transfer amount after the interference signal is reduced meets the requirement is detected, and if the image quality after the influence of the interference signal is reduced does not meet the requirement, step S505 is executed. If the image quality after reducing the influence of the interference signal meets the requirement, the user does not need to be reminded to adjust the direction of the remote controller, and the accuracy of the sent prompt signal can be improved. If no interference signal exists, step S505 is triggered to be executed to improve the communication quality between the movable platform and the remote controller by adjusting the signal transmission angle of the antenna on the remote controller.

Specifically, the movable platform and the remote controller interact data in a target frequency band, and the remote controller can detect whether an interference signal meeting conditions exists in the target frequency band; and if the interference signal meeting the condition exists, sending a second prompt message, wherein the second prompt message is used for prompting that the data interaction has the interference signal. Certainly, in order to eliminate the interference signal more quickly, after the interference signal meeting the condition is determined to exist in the target frequency band, the type of the interference signal can be acquired, and whether a data transmission function related to the type of the interference signal is started in the currently connected device is judged; and if so, sending a third prompt message, wherein the third prompt message is used for prompting that the currently connected equipment has an interference signal. Therefore, the interference signal source can be found more accurately, and the interference signal can be eliminated. The interference signal may be generated by a device mounted on the remote controller, which is not limited in the embodiment of the present application. The target frequency band refers to a frequency band for transmitting task data between the control equipment and the movable platform; for example, a 2.4G band or a 5.8G band. The target frequency band comprises a plurality of channels, and the control equipment performs channel interference scanning on the target frequency band to acquire an interference signal.

In one embodiment, the manner of detecting whether there is an interfering signal satisfying the condition in the target frequency band may include: (1) judging whether an interference signal with signal intensity higher than a signal intensity threshold exists in a target channel of a target frequency band within the first range duration; the first range duration may refer to a continuous period (e.g., 1s, 10s) when the control device scans the target channel, or the first range duration may be accumulated from a plurality of discontinuous periods; for example, assuming that the first range duration is 10s, and the control device has scanned the target channel 3 times at 10 th to 12 th seconds of the first minute, 47 th to 51 th seconds of the first minute, and 7 th to 11 th seconds of the second minute, respectively, the first range duration is accumulated by three discontinuous periods. (2) If the signal strength of the interference signal is higher than the signal strength threshold (such as-30 dBm), judging that the interference signal exists, and judging whether the duration ratio is greater than the duration ratio threshold, wherein the duration ratio comprises the following steps: the ratio of the time duration of the presence of the interfering signal to the first time duration range. The duration ratio refers to a ratio of the duration of existence of an interference signal (a signal with a signal strength higher than the strength threshold) in the channel interference scanning result to the duration of the first range. It is to be understood that, assuming that the signal strength of the signal 1 is higher than the strength threshold value from the 1 st second to the 5 th second and is lower than the strength threshold value from the 5 th second to the 10 th second, the control device determines that the signal 1 is an interference signal from the 1 st second to the 5 th second and is not an interference signal from the 5 th second to the 10 th second. The control device judges whether the time length ratio is greater than the time length ratio threshold value: the control device determines the amount of time that the interfering signal is present within the first range of time durations. It can be understood that the shorter the time during which the interference signal is present in the first range duration, the less the effect on the task data transmission is; the longer the interfering signal is present within the first range duration, the greater the impact on the mission data transmission. (3) And if the time length ratio is greater than the time length proportion threshold, judging that the interference signal meeting the condition exists.

And S505, if the second condition is met, acquiring the current signal transmission angle of the antenna.

Based on the processes described in steps S501 to S504, it can be determined that the mobile platform is currently located in the overhead area, the data transmission quality between the mobile platform and the remote controller is poor, and no interference signal exists in the target frequency band, the current signal transmission angle of the antenna is obtained, and if it is determined that the mobile platform falls into the signal weak coverage area of the antenna according to the current signal transmission angle of the antenna, the step of sending out the prompt signal is triggered and executed.

In an embodiment, a measurement device is mounted on the remote controller, where the measurement device may be the terminal described in step S302 in the embodiment shown in fig. 3, and this is not limited in this embodiment. In this case, the remote controller may generate a notification message and transmit the notification message to the measurement device, where the notification message is used to instruct the measurement device to obtain angle feedback information; the remote controller receives angle feedback information returned by the measuring equipment, and determines the current signal transmitting angle of the antenna according to the angle feedback information. The angle feedback information is the angle of the measuring equipment relative to the horizontal plane, which is obtained by the measuring equipment; in particular, a gyroscope may be included in the measuring device, and the measuring device may directly measure the angle of the measuring device relative to the horizontal plane based on the gyroscope.

The method for determining the current signal transmission angle of the antenna by the remote controller according to the angle feedback information may include: and the remote controller determines the current signal transmitting angle of the antenna according to the angle feedback information, the first angle information between the remote controller and the measuring equipment and the second angle information between the remote controller and the antenna. Wherein: (1) the first angle information between the remote controller and the measuring device can be obtained by initialization setting; the manner in which the initialization settings are performed may include, but is not limited to: and sending a prompt message for horizontally placing the remote controller, responding to the confirmation operation of the prompt message, and then successfully initializing and setting the remote controller, wherein at the moment, the angle relative to the horizontal plane, which is obtained by the measuring equipment, can be used as first angle information between the remote controller and the measuring equipment. (2) When the remote controller is fixedly connected to the antenna, the second angle information of the remote controller and the antenna is preset (for example, factory default setting), and may also be obtained by using the initialization setting described in (1), which is not described herein again. When the remote controller is not fixedly connected with the antenna, for example, the remote controller can be rotatably connected with the antenna through the rotating part, at this time, second angle information of the remote controller and the antenna is obtained according to sensing of the arranged angle sensor, and the angle sensor is arranged on the remote controller, or the angle sensor is arranged on the rotating part and is used for measuring the second angle information between the remote controller and the antenna.

For example, please refer to fig. 6, fig. 6 is a schematic diagram illustrating a method for determining a current signal transmission angle of an antenna according to an exemplary embodiment of the present application; as shown in fig. 6, the measurement device 203 is a mobile communication device (e.g., a cell phone); the first angle information between the remote controller 201 and the measurement device 203 includes that the remote controller 201 and the mobile communication device are placed flush (i.e. the angle value corresponding to the first angle information is 0); the second angle information between the remote controller 201 and the antenna 2011 includes that the zero point direction of the antenna is perpendicular to the remote controller (as shown in fig. 6, the zero point direction is the Z-axis direction, the signal coverage in the zero point direction is the weakest, and the Z-axis direction is perpendicular to the front surface of the remote controller), that is, the angle value corresponding to the second angle information is 0. In this case, angle feedback information measured by the measurement device 203 using a gyroscope is determined as the current signal transmission angle of the antenna 2011, and the angle feedback information at this time includes the angle of the portable communication device with respect to the horizontal plane (the angle ψ shown in fig. 6).

S506, judging whether the antenna is in the target angle range according to the current signal transmitting angle of the antenna.

The target angle may be an angle value obtained by a calibration test, and when the antenna is within the target angle range, the data signal transmitted by the antenna may not be well covered to the overhead area, for example, the target angle Ψ is 15 °. Referring to fig. 7, fig. 7 is a schematic diagram of a target angle range provided by an exemplary embodiment of the present application; assuming that the target angle Ψ is 15 °, the target angle range is a conical range formed by taking the vertical line 701 as the central axis and being separated from the central axis by 15 °.

In one embodiment, the determining whether the antenna is within the target angle range according to the current signal transmission angle of the antenna may include: and calculating an angle value between the antenna and a vertical line (a line perpendicular to a horizontal plane) according to the current signal transmitting angle of the antenna, and if the angle value is greater than a target angle, determining that the antenna is within a target angle range. For example, assuming that the current signal transmission angle of the antenna is psi, which is an angle value corresponding to the angle feedback information of the mobile communication device, and the target angle is psi, the angle value between the antenna and the vertical line (a line perpendicular to the horizontal plane) may be | psi-90 ° |; when | ψ -90 ° | > Ψ, determining that the antenna is within the target angle range, and triggering to execute step S507; when the phi-90 DEG phi is less than or equal to phi, the antenna is determined to be aligned to the movable platform, no prompt is carried out, and misunderstanding of a user caused by false alarm can be prevented.

And S507, sending a prompt signal.

The prompt signal is used for prompting the adjustment of the signal emission angle of the antenna. When | ψ -90 ° | > Φ in step S506, it is determined that the antenna is within the target angle range, and the prompt signal is used to prompt the user to erect the remote controller. Specifically, the remote controller is adjusted so that the angle value between the straight line where the antenna of the remote controller is located and the vertical line is always smaller than the target angle (e.g., 15 °). The signal transmitted by the adjusted antenna can cover the overhead area, so that the signal loss of the movable platform is avoided, and the communication quality between the movable platform and the remote controller is improved.

In the embodiment of the invention, whether an interference signal exists in a target frequency band can be detected, when the interference signal exists, the influence of the interference signal is weakened (or eliminated), and whether the mass transfer quantity of the image after the interference signal is reduced meets the requirement is detected; if the image mass transfer quantity after the interference signal is reduced does not meet the requirement, then the current signal transmitting angle of the antenna is obtained; and prompting to adjust the signal transmitting angle of the antenna according to the current signal transmitting angle of the antenna. Therefore, the detection of interference signals is increased, the sending accuracy of the prompt signals can be improved, and misleading users caused by misinformation is avoided.

An embodiment of the present invention provides a control apparatus, which may be mounted on a control device of a movable platform, such as a remote controller 201 in fig. 2. Fig. 8 is a block diagram of a control device according to an embodiment of the present invention, and as shown in fig. 8, the control device 800 includes a storage device 801 and a processor 802. The control device shown in fig. 8 may be used to perform some or all of the functions described above for the method embodiments described in fig. 3 or 5. Wherein, the detailed description of each unit is as follows:

the storage device 801 stores program instructions therein;

the processor 802, invoking the program instructions, is configured to:

In one embodiment, the processor 802 further performs the following operations:

acquiring a current signal transmitting angle of the antenna;

determining whether the antenna is in a target angle range according to the current signal transmitting angle;

and if the antenna is in the target angle range, triggering and executing the prompt signal sending.

In one embodiment, the remote controller is provided with a measuring device, and the remote controller is in communication connection with the measuring device; when the processor 802 acquires the current signal transmission angle of the antenna, the following operations are specifically performed:

generating a notification message, and sending the notification message to the measurement device, where the notification message is used to instruct the measurement device to obtain angle feedback information;

and receiving angle feedback information obtained by the measuring equipment, and determining the current signal transmitting angle of the antenna according to the angle feedback information.

In one embodiment, the angle feedback information is an angle of the measuring device relative to a horizontal plane obtained by the measuring device; when determining the current signal transmission angle of the antenna according to the angle feedback information, the processor 802 specifically performs the following operations:

and determining the current signal transmission angle of the antenna according to the angle feedback information, the first angle information between the remote controller and the measuring equipment and the second angle information between the remote controller and the antenna.

In one embodiment, the first angle information between the remote controller and the measurement device is derived from initialization settings comprising:

sending out prompt information for horizontally placing the remote controller;

and in response to the confirmation operation of the prompt message, taking the angle relative to the horizontal plane measured by the measuring equipment as first angle information between the remote controller and the measuring equipment.

In one embodiment, the method is characterized in that,

the remote controller is fixedly connected with the antenna, and second angle information of the remote controller and the antenna is preset; or,

the remote controller is rotatably connected with the antenna through a rotating part, second angle information of the remote controller and the antenna is obtained according to sensing of a set angle sensor, and the angle sensor is arranged on the remote controller or arranged on the rotating part.

In one embodiment, the measurement device comprises a movable communication device, the first angle information between the remote controller and the measurement device comprises that the remote controller and the movable communication device are placed in a flush mode, and the second angle information between the remote controller and the antenna comprises that the zero point direction of the antenna is perpendicular to the remote control device;

when determining the current signal transmission angle of the antenna, the processor 802 specifically performs the following operations:

determining the angle feedback information as a current signal transmission angle of the antenna, the angle feedback information including an angle of the mobile communication device relative to a horizontal plane.

In one embodiment, an angle sensor is arranged on the antenna, and the angle sensor is in communication connection with the remote controller; when the processor 802 acquires the current signal transmission angle of the antenna, the following operations are specifically performed:

acquiring angle information of the antenna relative to a horizontal plane through the angle sensor;

and determining the angle information of the antenna relative to the horizontal plane as the current signal transmission angle of the antenna.

In one embodiment, the current position information of the movable platform satisfying the first condition includes: the received position information of the movable platform satisfies configuration position information.

In one embodiment, the processor 802 specifically performs the following operations when acquiring the current position information of the movable platform:

receiving height information and positioning information sent by the movable platform;

determining the distance between the movable platform and the remote controller according to the positioning information;

determining current position information of the movable platform based on the height information of the movable platform and a distance between the movable platform and the remote controller; wherein the current position information of the movable platform includes relative angle information between the movable platform and the remote controller.

In one embodiment, the current position information of the movable platform satisfying the first condition includes: and the angle value corresponding to the relative angle information between the movable platform and the remote controller is smaller than an angle threshold value.

In one embodiment, the relative angle information between the movable platform and the remote controller is an included angle between a connecting line between the movable platform and the remote controller and a vertical line, and the vertical line is perpendicular to a horizontal plane.

In one embodiment, the data transmission quality information satisfies a second condition comprising:

the data transmission quality information includes signal quality data that satisfies a signal quality quantum condition in a second condition; and/or the presence of a gas in the gas,

the data transmission quality information includes data frame quality information that satisfies a data quality sub-condition in a second condition.

In one embodiment, the signal quality data comprises a data signal strength and a data signal-to-noise ratio;

the signal quality data satisfies a signal quality quantum condition in a second condition, including:

the data signal strength is less than a strength threshold, the data signal strength comprising a received signal strength and/or a reference signal strength;

and/or the data signal-to-noise ratio is less than a signal-to-noise ratio threshold.

In one embodiment, the data frame quality information includes a retransmission ratio, a code rate, and a number of image frame requests; the data frame quality information satisfies a data quality quantum condition in a second condition, including any one or more of:

in a first period, the retransmission proportion is larger than a retransmission threshold value;

the code rate is smaller than a code rate threshold value;

during a second period, the image frame request number is greater than a number threshold.

In one embodiment, the remote control comprises an antenna adjustment device; when the processor 802 sends out the prompt signal, the following operations are specifically executed:

and sending the prompt signal to the antenna adjusting device, wherein the antenna adjusting device is used for adjusting the signal transmitting angle of an antenna arranged on the remote controller.

In one embodiment, the antenna adjustment apparatus includes a motor, and the processor 802 further performs the following operations:

and controlling the motor to adjust the signal emission angle of the antenna based on the prompt signal.

In one embodiment, the processor 802 further performs the following operations:

and if the response operation aiming at the prompt signal is detected, controlling the antenna adjusting device to adjust the signal transmitting angle of the antenna.

In one embodiment, the processor 802 further performs the following operations:

and generating a second prompt message according to the prompt signal, and sending the second prompt message to a terminal, wherein the second prompt message instructs the terminal to prompt a user to adjust the signal emission angle of the antenna.

In one embodiment, the movable platform and the remote controller interact data in a target frequency band; the processor 802 further performs the following operations before issuing the alert signal:

detecting whether an interference signal meeting conditions exists in the target frequency band;

and if the target frequency band has the interference signal meeting the condition, sending a third prompt message, wherein the third prompt message is used for prompting that the data interaction has the interference signal.

if the target frequency band has an interference signal meeting the condition, acquiring the type of the interference signal;

judging whether a data transmission function related to the type of the interference signal is started in the currently connected equipment;

and if so, sending a fourth prompt message, wherein the fourth prompt message is used for prompting that the currently connected equipment has an interference signal.

In an embodiment, when detecting whether there is interference information meeting a condition in the target frequency band, the processor 802 specifically performs the following operations:

judging whether an interference signal with the signal intensity higher than a signal intensity threshold exists in a target channel of the target frequency band within the first range duration;

if yes, judging whether the duration ratio is greater than a duration ratio threshold, wherein the duration ratio comprises: a ratio of a duration of presence of the interfering signal to the first range of durations;

and if the time length ratio is greater than the time length ratio threshold, judging that the interference signal meeting the condition exists.

According to an embodiment of the present invention, the units in the control device shown in fig. 8 may be respectively or entirely combined into one or several other units to form the unit, or some unit(s) may be further split into multiple units with smaller functions to form the unit(s), which may achieve the same operation without affecting the achievement of the technical effect of the embodiment of the present invention. The units are divided based on logic functions, and in practical application, the functions of one unit can be realized by a plurality of units, or the functions of a plurality of units can be realized by one unit. In other embodiments of the present invention, the point control device may also include other units, and in practical applications, these functions may also be implemented by the assistance of other units, and may be implemented by cooperation of a plurality of units. According to another embodiment of the present invention, the control apparatus shown in fig. 8 may be constructed by running a computer program (including program instructions) capable of executing the steps involved in the corresponding method shown in fig. 3 or fig. 5 on a general-purpose computing device such as a computer including a Central Processing Unit (CPU), a random access storage medium (RAM), a read only storage medium (ROM), and the like as well as a storage element, and the interference processing method of the embodiment of the present invention may be implemented. The computer program may be recorded on a computer-readable recording medium, for example, and loaded into and executed by the computing apparatus via the computer-readable recording medium.

Based on the same inventive concept, the principle and the beneficial effect of the problem solving by the control device provided in the embodiment of the present invention are similar to the principle and the beneficial effect of the problem solving by the interference processing method in the embodiment of the method of the present invention, and for brevity, the principle and the beneficial effect of the implementation of the method can be referred to, and are not described herein again.

The embodiment of the invention provides a control device. Fig. 9 is a block diagram of a control device according to an embodiment of the present invention, and as shown in fig. 9, the control device 900 at least includes a processor 901 and a memory 902, where the memory 902 stores program instructions, the processor 901 calls the program instructions in the memory 502, and when the program instructions are executed, the processor 901 performs the following operations:

In one embodiment, the processor 901 further performs the following operations:

acquiring a current signal transmitting angle of the antenna;

In one embodiment, the remote controller is provided with a measuring device, and the remote controller is in communication connection with the measuring device; when acquiring the current signal transmission angle of the antenna, the processor 901 specifically executes the following operations:

In one embodiment, the angle feedback information is an angle of the measuring device relative to a horizontal plane obtained by the measuring device; when determining the current signal transmission angle of the antenna according to the angle feedback information, the processor 901 specifically performs the following operations:

sending out prompt information for horizontally placing the remote controller;

In one embodiment, the remote controller is fixedly connected with the antenna, and second angle information of the remote controller and the antenna is preset; or,

when determining the current signal transmission angle of the antenna, the processor 901 specifically performs the following operations:

In one embodiment, an angle sensor is arranged on the antenna, and the angle sensor is in communication connection with the remote controller; when acquiring the current signal transmission angle of the antenna, the processor 901 specifically executes the following operations:

In an embodiment, when acquiring the current position information of the movable platform, the processor 901 specifically performs the following operations:

the code rate is smaller than a code rate threshold value;

In one embodiment, the remote control comprises an antenna adjustment device; when the processor 901 sends out a prompt signal, the following operations are specifically executed:

In one embodiment, the antenna adjusting apparatus includes a motor, and the processor 901 further performs the following operations:

In one embodiment, the processor 901 further performs the following operations:

In one embodiment, the movable platform and the remote controller interact data in a target frequency band; the processor 901 further performs the following operations before sending out the prompt signal:

In an embodiment, when detecting whether there is an interference signal meeting a condition in the target frequency band, the processor 901 specifically performs the following operations:

The control device provided in this embodiment can execute the remote control processing scheme for the movable platform provided in the foregoing embodiment, and the execution manner and the beneficial effects are similar, and are not described herein again.

An embodiment of the present application further provides a computer-readable storage medium, where computer-readable instructions are stored in the computer-readable storage medium, and when executed by a processor, the computer-readable instructions cause the processor to perform the remote control processing method for the movable platform as described in fig. 3 and fig. 5.

The computer readable storage medium may be an internal storage unit of the control device according to any of the foregoing embodiments, for example, a hard disk or a memory of the device. The computer readable storage medium may also be an external storage device of the control device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the device. Further, the computer-readable storage medium may also include both an internal storage unit and an external storage device of the receiving just-in-time bank. The computer-readable storage medium is used to store the computer program and other programs and data required by the control device. The computer readable storage medium may also be used to temporarily store data that has been output or is to be output.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.

The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program instructions.

It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A remote control processing method for a movable platform, applied to a remote controller provided with an antenna for transmitting a data signal, the remote controller interacting with the movable platform through the antenna with data, the method comprising:

2. The method of claim 1, wherein the method further comprises:

acquiring a current signal transmitting angle of the antenna;

3. The method according to claim 2, wherein a measuring device is mounted on the remote controller, and the remote controller is in communication connection with the measuring device; the obtaining of the current signal transmission angle of the antenna includes:

4. The method of claim 3, wherein the angle feedback information is an angle of the measurement device relative to a horizontal plane derived by the measurement device; the determining the current signal transmission angle of the antenna according to the angle feedback information includes:

5. The method of claim 4, wherein the first angle information between the remote control and the measurement device is derived from initialization settings comprising:

sending out prompt information for horizontally placing the remote controller;

6. The method of claim 4,

7. The method of claim 4, wherein the measurement device comprises a movable communication device, wherein the first angle information between the remote control and the measurement device comprises the remote control being positioned flush with the movable communication device, and wherein the second angle information between the remote control and the antenna comprises a null direction of the antenna being perpendicular to the remote control;

the determining the current signal transmission angle of the antenna comprises:

8. The method of claim 2, wherein an angle sensor is disposed on the antenna, the angle sensor being in communication with the remote control; the obtaining of the current signal transmission angle of the antenna includes:

9. The method of claim 1,

the current position information of the movable platform satisfying the first condition includes: the received position information of the movable platform satisfies configuration position information.

10. The method of claim 1, wherein said obtaining current position information of the movable platform comprises:

11. The method of claim 10,

the current position information of the movable platform satisfying the first condition includes: and the angle value corresponding to the relative angle information between the movable platform and the remote controller is smaller than an angle threshold value.

12. The method of claim 10,

the relative angle information between the movable platform and the remote controller is the included angle between a connecting line between the movable platform and the remote controller and a vertical line, and the vertical line is perpendicular to the horizontal plane.

13. The method of claim 1, wherein the data transmission quality information satisfies a second condition comprising:

14. The method of claim 13, wherein the signal quality data comprises data signal strength and data signal-to-noise ratio;

15. The method of claim 13, wherein the data frame quality information includes a retransmission ratio, a code rate, and a number of image frame requests; the data frame quality information satisfies a data quality quantum condition in a second condition, including any one or more of:

the code rate is smaller than a code rate threshold value;

16. The method of claim 1, wherein the remote control includes an antenna adjustment device; the sending out the prompt signal comprises:

17. The method of claim 16, wherein the antenna adjustment device comprises a motor, the method further comprising:

18. The method of claim 16, wherein the method further comprises:

19. The method of claim 1, wherein the method further comprises:

and generating a first prompt message according to the prompt signal, and sending the first prompt message to a terminal, wherein the first prompt message instructs the terminal to prompt a user to adjust the signal emission angle of the antenna.

20. The method of claim 1, wherein the movable platform interacts data with the remote control at a target frequency band; before the sending out the prompt signal, the method further comprises:

and if the target frequency band has the interference signal meeting the condition, sending a second prompt message, wherein the second prompt message is used for prompting that the data interaction has the interference signal.

21. The method of claim 1, wherein the movable platform interacts data with the remote control at a target frequency band; before the sending out the prompt signal, the method further comprises:

and if so, sending a third prompt message, wherein the third prompt message is used for prompting that the currently connected equipment has an interference signal.

22. The method of claim 20 or 21, wherein the detecting whether the target frequency band has an interference signal satisfying a condition comprises:

23. A control device, characterized in that the control device comprises: a storage device and a processor;

program instructions are stored in the storage device;

the processor, calling the program instructions, is configured to:

24. The control device of claim 23, wherein the processor is further configured to:

acquiring a current signal transmitting angle of the antenna;

25. The control apparatus according to claim 24, wherein the remote controller is mounted with a measuring device, and the remote controller is connected to the measuring device in a communication manner; when obtaining the current signal transmission angle of the antenna, the processor is specifically configured to:

26. The control apparatus of claim 25, wherein the angle feedback information is an angle of the measuring device with respect to a horizontal plane obtained by the measuring device; when determining the current signal transmission angle of the antenna according to the angle feedback information, the processor is specifically configured to:

27. The control apparatus of claim 26, wherein the first angle information between the remote controller and the measurement device is derived from initialization settings comprising:

sending out prompt information for horizontally placing the remote controller;

28. The control device of claim 26,

29. The control apparatus of claim 26, wherein the measurement device comprises a movable communication device, first angle information between the remote controller and the measurement device comprises the remote controller being positioned flush with the movable communication device, second angle information between the remote controller and the antenna comprises a null direction of the antenna being perpendicular to the remote control device;

when determining the current signal transmission angle of the antenna, the processor is specifically configured to:

30. The control device of claim 24, wherein an angle sensor is disposed on the antenna, the angle sensor being in communication with the remote control; when obtaining the current signal transmission angle of the antenna, the processor is specifically configured to:

31. The control device of claim 23,

32. The control device of claim 23, wherein the processor, when obtaining the current position information of the movable platform, is specifically configured to:

33. The control device of claim 32,

34. The method of claim 32,

35. The control apparatus of claim 23, wherein the data transmission quality information satisfies a second condition comprising:

36. The control apparatus of claim 35, wherein said signal quality data comprises data signal strength and data signal to noise ratio;

37. The control apparatus of claim 35, wherein the data frame quality information includes a retransmission ratio, a code rate, and a number of image frame requests; the data frame quality information satisfies a data quality quantum condition in a second condition, including any one or more of:

the code rate is smaller than a code rate threshold value;

38. The control device of claim 23, wherein the remote control includes an antenna adjustment device; when the processor sends out the prompt signal, the processor is specifically configured to:

39. The control device of claim 38, wherein the antenna adjustment device comprises a motor, the processor further configured to:

40. The control device of claim 38, wherein the processor is further configured to:

41. The control device of claim 23, wherein the processor is further configured to:

42. The control device of claim 23, wherein the movable platform interacts data with the remote controller at a target frequency band; the processor, prior to issuing the alert signal, is further configured to:

43. The control device of claim 23, wherein the movable platform interacts data with the remote controller at a target frequency band; the processor, prior to issuing the alert signal, is further configured to:

44. The control apparatus as claimed in claim 42 or 43, wherein the processor, when detecting whether there is interference information satisfying a condition in the target frequency band, is specifically configured to:

45. A control device, characterized in that the control device comprises a memory and a processor;

the memory for storing a computer program;

the processor, invoking the computer program, is to:

46. The control device of claim 45, wherein the processor is further configured to:

acquiring a current signal transmitting angle of the antenna;

47. The control device according to claim 46, wherein the remote controller is provided with a measurement device, and the remote controller is in communication connection with the measurement device; when obtaining the current signal transmission angle of the antenna, the processor is specifically configured to:

48. The control device of claim 47, wherein the angle feedback information is an angle of the measurement device with respect to a horizontal plane obtained by the measurement device; when determining the current signal transmission angle of the antenna according to the angle feedback information, the processor is specifically configured to:

49. The control device of claim 48, wherein the first angle information between the remote control and the measurement device is derived from initialization settings comprising:

sending out prompt information for horizontally placing the remote controller;

50. The control apparatus of claim 48,

51. The control device of claim 48, wherein the measurement device comprises a movable communication device, wherein first angle information between the remote control and the measurement device comprises the remote control being positioned flush with the movable communication device, and wherein second angle information between the remote control and the antenna comprises a null direction of the antenna being perpendicular to the remote control device;

52. The control device of claim 46, wherein an angle sensor is disposed on the antenna, the angle sensor being in communication with the remote control; when obtaining the current signal transmission angle of the antenna, the processor is specifically configured to:

53. The control apparatus of claim 45,

54. The control device of claim 45, wherein the processor, when obtaining the current position information of the movable platform, is specifically configured to:

55. The control apparatus of claim 54,

56. The method of claim 54,

57. The control device of claim 45, wherein the data transmission quality information satisfies a second condition comprising:

58. The control device of claim 57, wherein the signal quality data includes a data signal strength and a data signal-to-noise ratio;

59. The control device of claim 57, wherein the data frame quality information includes a retransmission ratio, a code rate, and a number of image frame requests; the data frame quality information satisfies a data quality quantum condition in a second condition, including any one or more of:

the code rate is smaller than a code rate threshold value;

60. The control apparatus of claim 45, wherein the remote control includes an antenna adjustment device; when the processor sends out the prompt signal, the processor is specifically configured to:

61. The control device of claim 60, wherein the antenna adjustment apparatus comprises a motor, the processor further configured to:

62. The control device of claim 60, wherein the processor is further configured to:

63. The control device of claim 45, wherein the processor is further configured to:

64. The control device of claim 45, wherein the movable platform interacts data with the remote control at a target frequency band; the processor, prior to issuing the alert signal, is further configured to:

65. The control device of claim 45, wherein the movable platform interacts data with the remote control at a target frequency band; the processor, prior to issuing the alert signal, is further configured to:

66. The control device according to claim 64 or 65, wherein the processor, when detecting whether there is interference information satisfying the condition in the target frequency band, is specifically configured to:

67. The control device of claim 45, wherein the control device is a remote control and the movable platform is an unmanned aerial vehicle.

68. The control device of claim 47, wherein the measurement device is a smart terminal including, but not limited to: smart phones, computers.

69. A computer-readable storage medium having computer-readable instructions stored therein, which, when executed by a processor, cause the processor to perform a method of remote control processing of a movable platform according to any one of claims 1-22.