CN117109562A - Feedback type unmanned aerial vehicle positioning system - Google Patents
Feedback type unmanned aerial vehicle positioning system Download PDFInfo
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Abstract
The invention discloses a feedback type unmanned aerial vehicle positioning system, which relates to the technical field of unmanned aerial vehicles and comprises a video capturing unit, a video image analysis unit, a data extraction unit, a height prediction unit, a falling speed acquisition unit and a falling point evaluation unit, wherein the video capturing unit is used for recording real-time dynamic video images of surrounding environments when the feedback type unmanned aerial vehicle flies, and when the unmanned aerial vehicle cannot fly normally during no electricity or sudden faults, the surrounding environments are captured rapidly, and collected video data information is sent to the video image analysis unit. According to the invention, not only can the wings of the unmanned aerial vehicle be protected, but also the injuries of the wings to other organisms are avoided, and the pre-estimation processing of the falling points can be carried out, so that the time consumed by an operator for searching the falling unmanned aerial vehicle is effectively shortened.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a feedback type unmanned aerial vehicle positioning system.
Background
With the gradual perfection of unmanned aerial vehicle technology and the gradual maturity of application market, unmanned aerial vehicle has obtained the vigorous development in the application of civilian field, around unmanned aerial vehicle, various new technologies, new application mode is layered endlessly, the wide application has been obtained in industries such as remote sensing survey and drawing, security monitoring, emergent relief of disaster, electric power inspection, for the light and small-size unmanned aerial vehicle of trade class, because the restriction of factors such as cost, volume and weight, lead to the flight control design simpler, sensor cost is lower, the reliability of whole system is lower, especially have effective means to help the user to fix a position fast and search unmanned aerial vehicle after the flight breaks down urgent forced landing, simultaneously can't carry out self-protection and automatic function of dodging can lead to the fact the damage to other people and unmanned aerial vehicle wing after unmanned aerial vehicle is following suddenly, for this reason, we propose a feedback unmanned aerial vehicle positioning system.
Disclosure of Invention
The invention provides a feedback type unmanned aerial vehicle positioning system, which aims to solve the defects in the prior art.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the feedback type unmanned aerial vehicle positioning system comprises a video capturing unit, a video image analysis unit, a data extraction unit, a height estimation unit, a falling speed acquisition unit and a falling point estimation unit, wherein the video capturing unit is used for recording real-time dynamic video images of the surrounding environment when the feedback type unmanned aerial vehicle flies, and when the unmanned aerial vehicle cannot normally fly when no electricity or suddenly fails, the surrounding environment is rapidly captured and processed, and the acquired video data information is sent to the video image analysis unit;
the video image analysis unit is used for carrying out identification, analysis and judgment processing on buildings and other living things on the video data information captured by the video capturing unit, and sending the analyzed data information to the data extraction unit;
the altitude estimation unit is used for intelligently estimating the altitude of the feedback unmanned aerial vehicle when the feedback unmanned aerial vehicle flies and fails, and sending the estimated altitude data information to the falling speed acquisition unit;
the falling speed acquisition unit is used for carrying out data acquisition processing on the falling speed of the feedback unmanned aerial vehicle after the feedback unmanned aerial vehicle passes through the height data information estimated by the height estimation unit in case of sudden faults, and sending the acquired data information to the data extraction unit;
the data extraction unit is used for intelligently extracting the surrounding environment and the speed parameter of the unmanned aerial vehicle when the feedback unmanned aerial vehicle falls from the video data image data information captured during the falling of the unmanned aerial vehicle, and sending the extracted data information to the falling point evaluation unit;
the falling point evaluation unit is used for performing pre-judging analysis processing on the falling points of the feedback unmanned aerial vehicle according to the speed, the current wind direction and the current wind speed of the feedback unmanned aerial vehicle when the feedback unmanned aerial vehicle falls according to the related data information extracted by the data extraction unit.
Further, the feedback unmanned aerial vehicle positioning system further comprises a wing protection unit, an intelligent risk avoiding unit, a collision analysis unit, a route planning and planning unit and a position reminding unit;
the wing protection unit is used for protecting the wing after the surrounding environment conditions are analyzed by the video image analysis unit when the feedback unmanned aerial vehicle drops in a free falling manner, and sending the wing protection data information to the intelligent risk avoidance unit;
the intelligent risk avoidance unit performs intelligent obstacle avoidance processing capable of damaging the feedback unmanned aerial vehicle through the material data information of the peripheral obstacles fed back by the wing protection unit and the falling point position data information estimated by the falling point estimation unit, and calculates through an inter-frame difference algorithm in an obstacle avoidance algorithm;
assuming that the quality of the image is relatively high, the image is continuously extracted without taking the interference generated by image noise as a consideration, and the number of the extracted images is calculatedThe amount is 3 frames, with A i (x, y) represents an ith frame image, A i-2 (x, y) represents an (i-2) th frame image, D k (x, y) represents the difference result of the i-th frame image and the (i-2) -th frame image, namely:
let each video frame image I (x, y, t) be composed of a combination of a background image b (x, y, t) and an obstacle object m (x, y, t):
from this, it can be seen that D k (x, y) includes two parts, respectively, obstacle target and background change:
wherein->Indicating a change in background->Representing a change in the obstacle target;
the collision analysis unit is used for analyzing, judging and processing the strength of the landed contact object after collision after the falling point position information is estimated in advance by the falling point estimation unit;
the route planning and planning unit is used for carrying out intelligent route searching planning and planning processing on the estimated falling points sent by the falling point estimating unit in advance, carrying out route searching planning and planning processing according to the final falling points, and sending the position data information of the falling points to the position reminding unit;
the position reminding unit is used for carrying out sound and alarm flashing lamp reminding processing on the feedback type unmanned aerial vehicle after landing, and is convenient for an operator to accurately locate and search the feedback type unmanned aerial vehicle.
Further, the feedback type unmanned aerial vehicle positioning system further comprises a frequency signal receiving and transmitting unit and a signal processing unit, wherein the frequency signal receiving and transmitting unit is used for receiving and transmitting frequency signals sent by the feedback type unmanned aerial vehicle and sending the frequency signals sent by the feedback type unmanned aerial vehicle to the radar remote control terminal, and the frequency signal receiving and transmitting unit consists of a frequency comprehensive module and a solid state receiving and transmitting module;
the frequency synthesis module integrates a phase-locked loop, a DDS and a mixer, and is used for carrying out frequency conversion and modulation treatment on a reference signal generated by the crystal oscillator, and respectively providing a radio frequency excitation signal, a local oscillator signal and a frequency standard signal to the transmitting amplification branch and the receiving frequency conversion branch;
the solid-state transceiver module integrates a band-pass filter, a power amplifier, a circulator, a low-noise amplifier and a mixer, and is used for completing power synthesis, low-noise amplification and down-conversion processing of received signals, and the indexes of the transmitting part of the solid-state transceiver module are as follows:
transmitting an output signal:
frequency range: 10.38 GHz-10.48 GHz;
frequency step: 10MHz;
frequency hopping time: less than or equal to 10us;
signal form: chirping (time width 25us, bandwidth 2 MHz);
simple pulse (time width 0.5 us);
phase noise of output signals:
less than or equal to-60 dBc/Hz (10 Hz away from carrier frequency);
-80dBc/Hz (100 Hz offset from the carrier frequency);
-90dBc/Hz (1 kHz offset from the carrier frequency);
less than or equal to-95 dBc/Hz (10 kHz away from carrier frequency);
less than or equal to-95 dBc/Hz (100 kHz away from carrier frequency);
less than or equal to-115 dBc/Hz (1 MHz away from carrier frequency and beyond).
Further, the signal processing unit is configured to perform anti-interference and impurity filtering processing on the signals sent and received by the frequency signal transceiver unit, and feed back the filtered frequency signal to the frequency signal transceiver unit, where the signal processing unit includes a signal processor, and main functions of the signal processor include: the detection of radar echo signals and the extraction of target information are completed by the medium-frequency echo sampling, DDC, pulse compression, MTD and CFAR constant false alarm processing, clutter map, statistical threshold detection and difference amplitude and angle measurement processing technologies, and meanwhile, the system also has the function of providing timing generation for system operation and real-time monitoring and processing of faults of the whole system.
Further, the video image analysis unit comprises a building identification module and a biological identification module, wherein the building identification module is used for carrying out attribute analysis and identification processing on the building in the video image data information captured and collected by the video image analysis unit, such as analysis of houses, signal towers or bushes;
the biological recognition module is used for analyzing and recognizing the type of the biological object captured by the video image analysis unit, such as analyzing the biological object, particularly human beings or animals.
Further, the output end of the video capturing unit is connected with the input end of the video image analysis unit, the output end of the video image analysis unit is respectively connected with the input ends of the wing protection unit and the data extraction unit, the output end of the wing protection unit is connected with the input end of the intelligent risk avoidance unit, the output end of the height estimation unit is connected with the input end of the falling speed acquisition unit, the output end of the falling speed acquisition unit is connected with the input end of the data extraction unit, the output end of the data extraction unit is connected with the input end of the falling point evaluation unit, the output end of the falling point evaluation unit is respectively connected with the input ends of the intelligent risk avoidance unit, the route planning drafting unit and the collision analysis unit, the output end of the route planning drafting unit is respectively connected with the input ends of the position reminding unit and the frequency signal transceiving unit, the frequency signal transceiving unit is in bidirectional connection with the signal processing unit, and the frequency signal transceiving unit sends data signals to the radar remote control terminal.
Further, the output end of the video capturing unit is connected with the input ends of the building identification module and the biological identification module respectively, the output end of the building identification module is connected with the input ends of the wing protection unit and the data extraction unit respectively, and the output end of the biological identification module is connected with the input ends of the wing protection unit and the data extraction unit respectively.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the video capturing unit, the video image analysis unit, the data extraction unit, the height estimation unit, the falling speed acquisition unit, the falling point estimation unit, the wing protection unit, the intelligent risk avoidance unit, the collision analysis unit, the route planning and planning unit, the position reminding unit, the frequency signal receiving and transmitting unit and the signal processing unit are arranged, the falling point estimation unit is used for carrying out pre-judging analysis processing on falling points on the speed, the current wind direction and the current wind speed of the feedback unmanned aerial vehicle when the unmanned aerial vehicle falls, the wing protection unit is used for carrying out protection processing on the unmanned aerial vehicle wing when the unmanned aerial vehicle falls, the intelligent risk avoidance unit is used for carrying out intelligent risk avoidance processing on the feedback unmanned aerial vehicle, damage to the unmanned aerial vehicle is reduced, meanwhile, damage to other organisms is avoided when the unmanned aerial vehicle falls is avoided, and planning the route is carried out according to the final falling points, so that the unmanned aerial vehicle can not only protect the wing of the unmanned aerial vehicle, but also can carry out estimated processing on the falling points, and effectively shorten the time consumption of an operator after the unmanned aerial vehicle is searched.
Drawings
Fig. 1 is an overall system block diagram of a feedback type unmanned aerial vehicle positioning system according to the present invention;
fig. 2 is a block diagram of a video image analysis unit of a feedback unmanned aerial vehicle positioning system according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise. Furthermore, the terms "mounted," "connected," "coupled," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in the present invention will be understood by those skilled in the art in detail, and the present invention will be further described in detail with reference to the accompanying drawings.
Example 1
Referring to fig. 1-2: the feedback type unmanned aerial vehicle positioning system comprises a video capturing unit, a video image analysis unit, a data extraction unit, a height estimation unit, a falling speed acquisition unit and a falling point estimation unit, wherein the video capturing unit is used for recording real-time dynamic video images of the surrounding environment when the feedback type unmanned aerial vehicle flies, and when the unmanned aerial vehicle cannot normally fly when no electricity or sudden faults occur, the surrounding environment is rapidly captured and processed when the unmanned aerial vehicle falls, and the acquired video data information is sent to the video image analysis unit;
the video image analysis unit is used for carrying out identification, analysis and judgment processing on buildings and other organisms on the video data information captured by the video capturing unit, and sending the analyzed data information to the data extraction unit;
the altitude estimation unit is used for intelligently estimating the altitude of the feedback unmanned aerial vehicle when the feedback unmanned aerial vehicle flies and fails, and sending the estimated altitude data information to the falling speed acquisition unit;
the falling speed acquisition unit is used for carrying out data acquisition processing on the falling speed of the feedback unmanned aerial vehicle after the feedback unmanned aerial vehicle passes through the height data information estimated by the height estimation unit in the case of sudden faults, and sending the acquired data information to the data extraction unit;
the data extraction unit is used for intelligently extracting the surrounding environment and the speed parameter of the unmanned aerial vehicle when the feedback unmanned aerial vehicle falls from the video data image data information captured during the falling of the unmanned aerial vehicle, and sending the extracted data information to the falling point evaluation unit;
the falling point evaluation unit is used for performing predictive analysis processing on the falling point of the feedback unmanned aerial vehicle according to the speed, the current wind direction and the current wind speed of the falling of the feedback unmanned aerial vehicle on the relevant data information extracted by the data extraction unit.
In the invention, the feedback unmanned aerial vehicle positioning system also comprises a wing protection unit, an intelligent risk avoiding unit, a collision analysis unit, a route planning and planning unit and a position reminding unit;
the wing protection unit is used for protecting the wing after the surrounding environment conditions are analyzed by the video image analysis unit when the feedback unmanned aerial vehicle drops in a free falling manner, and sending the wing protection data information to the intelligent risk avoidance unit;
the intelligent risk avoiding unit performs intelligent obstacle avoidance processing capable of damaging the feedback unmanned aerial vehicle through the material data information of the peripheral obstacles fed back by the wing protection unit and the falling point position data information estimated by the falling point estimating unit, and the intelligent risk avoiding unit performs calculation through an inter-frame difference algorithm in an obstacle avoidance algorithm;
assuming that the quality of the image is high, the image is continuously extracted without taking the interference generated by image noise as a consideration, the number of the extracted images is 3 frames, and A is used i (x, y) represents an ith frame image, A i-2 (x, y) represents an (i-2) th frame image, D k (x, y) represents the difference result of the i-th frame image and the (i-2) -th frame image, namely:
let each video frame image I (x, y, t) be composed of a combination of a background image b (x, y, t) and an obstacle object m (x, y, t):
from this, it can be seen that D k (x, y) includes two parts, respectively, obstacle target and background change:
wherein->Indicating a change in background->Representing a change in the obstacle target;
the collision analysis unit is used for analyzing, judging and processing the strength of the landed contact after collision after the falling point position information is estimated in advance by the falling point estimation unit;
the route planning and planning unit is used for carrying out intelligent route searching planning and planning processing in advance on the estimated falling points sent by the falling point estimating unit, carrying out route searching planning and planning processing according to the final falling points, and sending the position data information of the falling points to the position reminding unit;
the position reminding unit is used for carrying out sound and alarm flashing lamp reminding processing on the feedback unmanned aerial vehicle after landing, and is convenient for an operator to search and process the accurate positioning of the feedback unmanned aerial vehicle.
The feedback type unmanned aerial vehicle positioning system further comprises a frequency signal receiving and transmitting unit and a signal processing unit, wherein the frequency signal receiving and transmitting unit is used for receiving and transmitting frequency signals sent by the feedback type unmanned aerial vehicle and sending the frequency signals sent by the feedback type unmanned aerial vehicle to the radar remote control terminal, and the frequency signal receiving and transmitting unit consists of a frequency comprehensive module and a solid state receiving and transmitting module;
the frequency synthesis module integrates a phase-locked loop, a DDS and a mixer, and is used for carrying out frequency conversion and modulation treatment on a reference signal generated by the crystal oscillator, and respectively providing a radio frequency excitation signal, a local oscillator signal and a frequency standard signal to the transmitting amplifying branch and the receiving frequency conversion branch;
the solid-state transceiver module integrates a band-pass filter, a power amplifier, a circulator, a low-noise amplifier and a mixer, and is used for completing power synthesis, low-noise amplification and down-conversion processing of received signals, and the indexes of the transmitting part of the solid-state transceiver module are as follows:
transmitting an output signal:
frequency range: 10.38 GHz-10.48 GHz;
frequency step: 10MHz;
frequency hopping time: less than or equal to 10us;
signal form: chirping (time width 25us, bandwidth 2 MHz);
simple pulse (time width 0.5 us);
phase noise of output signals:
less than or equal to-60 dBc/Hz (10 Hz away from carrier frequency);
-80dBc/Hz (100 Hz offset from the carrier frequency);
-90dBc/Hz (1 kHz offset from the carrier frequency);
less than or equal to-95 dBc/Hz (10 kHz away from carrier frequency);
less than or equal to-95 dBc/Hz (100 kHz away from carrier frequency);
less than or equal to-115 dBc/Hz (1 MHz away from carrier frequency and beyond).
In the invention, the signal processing unit is used for carrying out anti-interference and impurity filtering processing on the signals sent and received by the frequency signal receiving and sending unit, and feeding back the filtered frequency signals to the frequency signal receiving and sending unit, the signal processing unit comprises a signal processor, and the main functions of the signal processor comprise: the detection of radar echo signals and the extraction of target information are completed by the medium-frequency echo sampling, DDC, pulse compression, MTD and CFAR constant false alarm processing, clutter map, statistical threshold detection and difference amplitude and angle measurement processing technologies, and meanwhile, the system also has the function of providing timing generation for system operation and real-time monitoring and processing of faults of the whole system.
In the invention, the video image analysis unit comprises a building identification module and a biological identification module, wherein the building identification module is used for carrying out attribute analysis and identification treatment on a building in video image data information captured and collected by the video image analysis unit, such as analysis of houses, signal towers or shrubs;
the biological recognition module is used for analyzing and recognizing the type of the biological object captured by the video image analysis unit, such as analyzing the biological object, specifically human beings or animals.
In the invention, the output end of the video capturing unit is connected with the input end of the video image analyzing unit, the output end of the video image analyzing unit is respectively connected with the input ends of the wing protecting unit and the data extracting unit, the output end of the wing protecting unit is connected with the input end of the intelligent risk avoiding unit, the output end of the height estimating unit is connected with the input end of the falling speed collecting unit, the output end of the falling speed collecting unit is connected with the input end of the data extracting unit, the output end of the data extracting unit is connected with the input end of the falling point estimating unit, the output end of the falling point estimating unit is respectively connected with the input ends of the intelligent risk avoiding unit, the route planning and the collision analyzing unit, the output end of the route planning unit is respectively connected with the input ends of the position reminding unit and the frequency signal receiving and transmitting unit, the frequency signal receiving and transmitting unit is in bidirectional connection with the signal processing unit, and the frequency signal receiving and transmitting the data signal to the radar remote control terminal.
In the invention, the output end of the video capturing unit is respectively connected with the input ends of the building identification module and the biological identification module, the output end of the building identification module is respectively connected with the input ends of the wing protection unit and the data extraction unit, and the output end of the biological identification module is respectively connected with the input ends of the wing protection unit and the data extraction unit.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (7)
1. A feedback type unmanned aerial vehicle positioning system comprises a video capturing unit, a video image analyzing unit, a data extracting unit, a height estimating unit, a falling speed collecting unit and a falling point estimating unit, and is characterized in that;
the video capturing unit is used for recording and processing real-time dynamic video images of the surrounding environment when the feedback unmanned aerial vehicle flies, and when the unmanned aerial vehicle cannot fly normally when no electricity or suddenly fails, the video capturing unit captures and processes the surrounding environment rapidly when the unmanned aerial vehicle falls, and sends collected video data information to the video image analysis unit;
the video image analysis unit is used for carrying out identification, analysis and judgment processing on buildings and other living things on the video data information captured by the video capturing unit, and sending the analyzed data information to the data extraction unit;
the altitude estimation unit is used for intelligently estimating the altitude of the feedback unmanned aerial vehicle when the feedback unmanned aerial vehicle flies and fails, and sending the estimated altitude data information to the falling speed acquisition unit;
the falling speed acquisition unit is used for carrying out data acquisition processing on the falling speed of the feedback unmanned aerial vehicle after the feedback unmanned aerial vehicle passes through the height data information estimated by the height estimation unit in case of sudden faults, and sending the acquired data information to the data extraction unit;
the data extraction unit is used for intelligently extracting the surrounding environment and the speed parameter of the unmanned aerial vehicle when the feedback unmanned aerial vehicle falls from the video data image data information captured during the falling of the unmanned aerial vehicle, and sending the extracted data information to the falling point evaluation unit;
the falling point evaluation unit is used for performing pre-judging analysis processing on the falling points of the feedback unmanned aerial vehicle according to the speed, the current wind direction and the current wind speed of the feedback unmanned aerial vehicle when the feedback unmanned aerial vehicle falls according to the related data information extracted by the data extraction unit.
2. The feedback unmanned aerial vehicle positioning system of claim 1, further comprising a wing protection unit, an intelligent risk avoidance unit, a collision analysis unit, a route planning and planning unit, and a position alert unit;
the wing protection unit is used for protecting the wing after the surrounding environment conditions are analyzed by the video image analysis unit when the feedback unmanned aerial vehicle drops in a free falling manner, and sending the wing protection data information to the intelligent risk avoidance unit;
the intelligent risk avoidance unit performs intelligent obstacle avoidance processing capable of damaging the feedback unmanned aerial vehicle through the material data information of the peripheral obstacles fed back by the wing protection unit and the drop point position data information estimated by the drop point estimation unit;
the collision analysis unit is used for analyzing, judging and processing the strength of the landed contact object after collision after the falling point position information is estimated in advance by the falling point estimation unit;
the route planning and planning unit is used for carrying out intelligent route searching planning and planning processing on the estimated falling points sent by the falling point estimating unit in advance, carrying out route searching planning and planning processing according to the final falling points, and sending the position data information of the falling points to the position reminding unit;
the position reminding unit is used for carrying out sound and alarm flashing lamp reminding processing on the feedback type unmanned aerial vehicle after landing, and is convenient for an operator to accurately locate and search the feedback type unmanned aerial vehicle.
3. The feedback unmanned aerial vehicle positioning system according to claim 2, further comprising a frequency signal transceiver unit and a signal processing unit, wherein the frequency signal transceiver unit is used for receiving and transmitting frequency signals sent by the feedback unmanned aerial vehicle and sending the frequency signals sent by the feedback unmanned aerial vehicle to the radar remote control terminal, and the frequency signal transceiver unit consists of a frequency synthesis module and a solid state transceiver module;
the frequency synthesis module is used for carrying out frequency conversion and modulation treatment on a reference signal generated by the crystal oscillator, and respectively providing a radio frequency excitation signal, a local oscillator signal and a frequency standard signal to the transmitting amplification branch and the receiving frequency conversion branch;
the solid-state transceiver module is used for completing power synthesis, low-noise amplification and down-conversion processing of received signals.
4. A feedback unmanned aerial vehicle positioning system according to claim 3, wherein the signal processing unit is configured to perform anti-interference and impurity filtering processing on the signals sent and received by the frequency signal receiving and sending unit, and to feed back the filtered frequency signals to the frequency signal receiving and sending unit.
5. The feedback unmanned aerial vehicle positioning system of claim 2, wherein the video image analysis unit comprises a building identification module and a biometric identification module, the building identification module being configured to perform a property analysis identification process on a building in the video image data information captured and collected by the video image analysis unit;
the biological recognition module is used for analyzing and recognizing the types of the biological objects captured by the video image analysis unit.
6. A feedback unmanned aerial vehicle positioning system according to claim 3, wherein the output end of the video capturing unit is connected to the input end of the video image analysis unit, the output end of the video image analysis unit is connected to the input ends of the wing protection unit and the data extraction unit, the output end of the wing protection unit is connected to the input end of the intelligent risk avoidance unit, the output end of the altitude estimation unit is connected to the input end of the falling speed acquisition unit, the output end of the falling speed acquisition unit is connected to the input end of the data extraction unit, the output end of the data extraction unit is connected to the input end of the falling point evaluation unit, the output end of the falling point evaluation unit is connected to the input ends of the intelligent risk avoidance unit, the route planning unit and the collision analysis unit, the output end of the route planning unit is connected to the input ends of the position reminding unit and the frequency signal receiving and transmitting unit, the frequency signal receiving and transmitting unit is connected in a bidirectional manner to the signal processing unit, and the frequency signal receiving and transmitting unit transmits the data signal to the radar remote control terminal.
7. The feedback unmanned aerial vehicle positioning system of claim 5, wherein the output of the video capturing unit is connected to inputs of a building identification module and a biometric identification module, respectively, the output of the building identification module is connected to inputs of a wing protection unit and a data extraction unit, respectively, and the output of the biometric identification module is connected to inputs of the wing protection unit and the data extraction unit, respectively.
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