CN117336821A - Multi-mode signal transmission method and device - Google Patents
Multi-mode signal transmission method and device Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W48/00—Access restriction; Network selection; Access point selection
- H04W48/16—Discovering, processing access restriction or access information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/46—Interconnection of networks
- H04L12/4641—Virtual LANs, VLANs, e.g. virtual private networks [VPN]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
- H04W12/06—Authentication
- H04W12/068—Authentication using credential vaults, e.g. password manager applications or one time password [OTP] applications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
- H04W40/22—Communication route or path selection, e.g. power-based or shortest path routing using selective relaying for reaching a BTS [Base Transceiver Station] or an access point
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
- H04W88/08—Access point devices
- H04W88/10—Access point devices adapted for operation in multiple networks, e.g. multi-mode access points
Abstract
The invention discloses a multi-mode signal transmission method and a device, wherein the method comprises the following steps: the unmanned aerial vehicle is subjected to path planning by utilizing a remote control module, the unmanned aerial vehicle is controlled to fly to a target area for landing, and data information of the unmanned aerial vehicle is sent to an unmanned aerial vehicle comprehensive data display module; detecting a target area by using a relay target discovery module to obtain WiFi information and Bluetooth information of the target area and sending the WiFi information and the Bluetooth information to a remote control module; analyzing the WiFi information and the Bluetooth information of the target area by utilizing the remote control module to obtain a connection password of the connection target WiFi network and an authentication code of the Bluetooth equipment, and sending the connection password and the authentication code to the relay target connection module; the relay target connection module is used for accessing the target WiFi network and the Bluetooth device according to the connection password of the connection target WiFi network and the authentication code of the Bluetooth device; and establishing a VPN connection line by using the 4G relay module, detecting the 4G network state of the target area and sending the 4G network state to the remote control module.
Description
Technical Field
The present invention relates to the field of wireless communications technologies, and in particular, to a method and an apparatus for transmitting a multi-mode signal.
Background
Unmanned aerial vehicle does not need the airborne personnel to operate, can carry out the task through artificial remote control or autonomous operation, so be fit for carrying out different tasks under the complex circumstances of environment to the danger that personnel faced when carrying out the task has greatly reduced. The method is widely applied in the communication field by virtue of the characteristics of enough flexibility, easiness in deployment, higher maneuverability, hovering capability and the like. The aim of unmanned aerial vehicle flight path planning is to plan out one or more optimal flight paths meeting various conditions and meeting the current combat scene and requirements, but before planning, various factors are considered, such as comprehensive consideration of obstacles, threat areas, interference of other unmanned aerial vehicles in a planning space, fuel consumption in the flight process, the sailing time of the unmanned aerial vehicle, limiting factors of the unmanned aerial vehicle, and the like.
The unmanned aerial vehicle remote breakthrough access relay technology can meet the requirements of remote control and remote communication of the unmanned aerial vehicle, and the remote relay transmission of monitoring data can be realized by establishing a data transmission link with ground monitoring equipment. Data generated in the unmanned aerial vehicle flight control stage, such as unmanned aerial vehicle shooting video data, unmanned aerial vehicle running state data, map display of the current position of the unmanned aerial vehicle, and data such as the current environment 4G network state of the unmanned aerial vehicle, the network uplink and downlink speed, the VPN connection number and the like, are sent to a using terminal, connection parameter configuration can be carried out on a network, and evaluation references are provided for users.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a multi-mode signal transmission method and device, which consists of a relay target discovery module, a relay target connection module, a 4G relay module, an unmanned aerial vehicle comprehensive data display module and a remote control module, wherein the relay target discovery module is used for detecting WiFi network and Bluetooth equipment of a scanning target network area and sending the result to the remote control module; the relay target connection module is used for receiving the WiFi password or the Bluetooth authentication code sent by the remote control module and connecting the WiFi network or the Bluetooth equipment; the 4G relay module is used for establishing a VPN connection circuit through a 4G network, guaranteeing the stability of the VPN connection circuit, detecting the current environment 4G network state and sending the current environment 4G network state to the remote control module; the remote control module is used for controlling the unmanned aerial vehicle comprehensive data display module to display the unmanned aerial vehicle shooting video, the position map, the current environment 4G network state and the target network area network state, and selecting a target WiFi network or a Bluetooth network to send a WiFi password or a Bluetooth authentication code for access.
In order to solve the above technical problems, a first aspect of an embodiment of the present invention discloses a multi-mode signal transmission method, which includes:
S1, carrying out path planning on an unmanned aerial vehicle by utilizing a remote control module to obtain path information of the unmanned aerial vehicle, controlling the unmanned aerial vehicle to fly to a target area for landing according to the path information of the unmanned aerial vehicle, and sending data information of the unmanned aerial vehicle to an unmanned aerial vehicle comprehensive data display module;
the data information of the unmanned aerial vehicle comprises video data shot by the unmanned aerial vehicle, unmanned aerial vehicle running state data and a map of the current position of the unmanned aerial vehicle;
s2, detecting a target area by using a relay target discovery module to obtain WiFi information and Bluetooth information of the target area, and sending the WiFi information and the Bluetooth information of the target area to the remote control module;
s3, analyzing the WiFi information and the Bluetooth information of the target area by using the remote control module to obtain a connection password of a connection target WiFi network and an authentication code of the Bluetooth device, and sending the connection password of the connection target WiFi network and the authentication code of the Bluetooth device to the relay target connection module;
s4, accessing the target WiFi network and the Bluetooth device by using the relay target connection module according to the connection password of the connection target WiFi network and the authentication code of the Bluetooth device;
S5, establishing a VPN connection line by using a 4G relay module, detecting the 4G network state of a target area, obtaining 4G network state information, and sending the 4G network state information to the remote control module;
s6, the remote control module is utilized to send the connection password of the connection target WiFi network, the authentication code of the Bluetooth device and the 4G network state information to the unmanned aerial vehicle comprehensive data display module;
s7, utilizing the unmanned aerial vehicle comprehensive data display module to display video data shot by the unmanned aerial vehicle, unmanned aerial vehicle running state data, a map of the current position of the unmanned aerial vehicle, a connection password of the connection target WiFi network and an authentication code of Bluetooth equipment, and 4G network state information.
In a first aspect of the embodiment of the present invention, the performing path planning on the unmanned aerial vehicle by using the remote control module to obtain path information of the unmanned aerial vehicle includes:
s11, carrying out global path planning on the unmanned aerial vehicle by utilizing a remote control module, controlling the unmanned aerial vehicle to fly along a line planned by the global path, and monitoring the surrounding environment in real time;
s12, if the surrounding environment finds an unknown obstacle or other unmanned aerial vehicle threats, the remote control module judges the unknown obstacle or other unmanned aerial vehicle threats to obtain a judging result; if the judgment result is that the unmanned aerial vehicle route cannot be influenced, flying along the route planned by the global path, and if the judgment result is that the unmanned aerial vehicle route cannot be influenced, executing S13;
S13, setting a starting point and a local target point of the entering local path planning unmanned aerial vehicle, and setting path planning parameters;
the starting point is the current position of the unmanned aerial vehicle, and the local target point is the position of the next global track point;
s14, processing the path planning parameters by utilizing a local path planning model to obtain resultant force born by the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to move along the direction of the resultant force;
s15, judging whether the unmanned aerial vehicle breaks away from an unknown obstacle or other unmanned aerial vehicle threats, if yes, executing S14, and if not, storing local track points to obtain path information of the unmanned aerial vehicle.
In a first aspect of the embodiment of the present invention, the processing, by using a local path planning model, the path planning parameter to obtain a resultant force suffered by the unmanned aerial vehicle includes:
processing attractive force of the flight path target point on the unmanned aerial vehicle and repulsive force generated by the obstacle by utilizing a local path planning model to obtain resultant force born by the unmanned aerial vehicle;
the local path planning model is as follows:
wherein N is the number of barriers, F repj For the repulsive force of the j-th obstacle, F att (X) is the attractive force of the track target point on the unmanned aerial vehicle, and F (X) is the resultant force received by the unmanned aerial vehicle; f (F) att (X)＝-grad[U att (X)]＝-k att ρ(X,X 0 ) Grad represents gradient operations, k att Is the coefficient of gravitational potential field, ρ (X, X) 0 ) U is the relative distance between the unmanned aerial vehicle and the target point att Is unmannedThe machine is subjected to the gravitational potential field,
in a first aspect of the embodiment of the present invention, the detecting, by using a relay target discovery module, a target area to obtain WiFi information and bluetooth information of the target area includes:
s21, detecting a target area by utilizing a WiFi network access attack model to obtain WiFi information of the target area;
s22, detecting a target area by using a Bluetooth micro-network access model to obtain Bluetooth information of the target area.
In a first aspect of the embodiment of the present invention, the detecting, by using a WiFi network access attack model, a target area to obtain WiFi information of the target area includes:
s211, utilizing a WiFi network access attack model to intercept Beacon frames sent by a wireless AP periodically to obtain passive scanning WiFi information of the target area;
s212, a WiFi network access attack model is utilized to send a probe request frame, wiFi information of the target area is scanned, and active scanning WiFi information of the target area is obtained;
And the passive scanning WiFi information of the target area and the active scanning WiFi information of the target area form WiFi information of the target area.
In a first aspect of the embodiment of the present invention, the detecting, by using a bluetooth micro-network access model, a target area to obtain bluetooth information of the target area includes:
s221, directly scanning a target area by utilizing a Bluetooth micro-network access model to obtain visible Bluetooth information of the target area;
s222, performing violent scanning on a target area by using a Bluetooth micro-network access model to obtain invisible Bluetooth information of the target area;
the visible bluetooth information of the target area and the invisible bluetooth information of the target area form bluetooth information of the target area.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the 4G relay module is configured to establish a VPN tunnel, detect a 4G network state of a current environment, obtain current environment 4G network state information, and send the current environment 4G network state information to the remote control module;
when VPN service is overloaded or fails and is down, the 4G relay module automatically restarts VPN service to ensure the stability of a relay line;
The VPN service uses the L2TP protocol and IPSec protocol for encrypted communication.
The second aspect of the embodiment of the invention discloses a multi-mode signal transmission device, which comprises:
the path planning unit is used for planning a path of the unmanned aerial vehicle by using the remote control module to obtain path information of the unmanned aerial vehicle, controlling the unmanned aerial vehicle to fly to a target area for landing according to the path information of the unmanned aerial vehicle, and sending data information of the unmanned aerial vehicle to the unmanned aerial vehicle comprehensive data display module;
the data information of the unmanned aerial vehicle comprises video data shot by the unmanned aerial vehicle, unmanned aerial vehicle running state data and a map of the current position of the unmanned aerial vehicle;
the target detection unit is used for detecting a target area by using the relay target discovery module to obtain WiFi information and Bluetooth information of the target area, and sending the WiFi information and the Bluetooth information of the target area to the remote control module;
the network analysis unit is used for analyzing the WiFi information and the Bluetooth information of the target area by utilizing the remote control module to obtain a connection password of a connection target WiFi network and an authentication code of the Bluetooth device, and sending the connection password of the connection target WiFi network and the authentication code of the Bluetooth device to the relay target connection module;
The target access unit is used for accessing the target WiFi network and the Bluetooth device according to the connection password of the connecting target WiFi network and the authentication code of the Bluetooth device by utilizing the relay target connection module;
the 4G communication unit is used for establishing a VPN connection circuit by utilizing the 4G relay module, detecting the 4G network state of the target area, obtaining 4G network state information and sending the 4G network state information to the remote control module;
the data transmitting unit is used for transmitting the connection password of the connection target WiFi network, the authentication code of the Bluetooth device and the 4G network state information to the unmanned aerial vehicle comprehensive data display module by utilizing the remote control module;
the information display unit is used for displaying video data shot by the unmanned aerial vehicle, unmanned aerial vehicle running state data, a map of the current position of the unmanned aerial vehicle, a connection password of the connection target WiFi network and an authentication code of Bluetooth equipment and 4G network state information by using the unmanned aerial vehicle comprehensive data display module.
In a second aspect of the embodiment of the present invention, the performing path planning on the unmanned aerial vehicle by using the remote control module to obtain path information of the unmanned aerial vehicle includes:
S11, carrying out global path planning on the unmanned aerial vehicle by utilizing a remote control module, controlling the unmanned aerial vehicle to fly along a line planned by the global path, and monitoring the surrounding environment in real time;
s12, if the surrounding environment finds an unknown obstacle or other unmanned aerial vehicle threats, the remote control module judges the unknown obstacle or other unmanned aerial vehicle threats to obtain a judging result; if the judgment result is that the unmanned aerial vehicle route cannot be influenced, flying along the route planned by the global path, and if the judgment result is that the unmanned aerial vehicle route cannot be influenced, executing S13;
s13, setting a starting point and a local target point of the entering local path planning unmanned aerial vehicle, and setting path planning parameters;
the starting point is the current position of the unmanned aerial vehicle, and the local target point is the position of the next global track point;
s14, processing the path planning parameters by utilizing a local path planning model to obtain resultant force born by the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to move along the direction of the resultant force;
s15, judging whether the unmanned aerial vehicle breaks away from an unknown obstacle or other unmanned aerial vehicle threats, if yes, executing S14, and if not, storing local track points to obtain path information of the unmanned aerial vehicle.
In a second aspect of the embodiment of the present invention, the processing, by using a local path planning model, the path planning parameter to obtain a resultant force suffered by the unmanned aerial vehicle includes:
processing attractive force of the flight path target point on the unmanned aerial vehicle and repulsive force generated by the obstacle by utilizing a local path planning model to obtain resultant force born by the unmanned aerial vehicle;
the local path planning model is as follows:
wherein N is the number of barriers, F repj For the repulsive force of the j-th obstacle, F att (X) is the attractive force of the track target point on the unmanned aerial vehicle, and F (X) is the resultant force received by the unmanned aerial vehicle; f (F) att (X)＝-grad[U att (X)]＝-k att ρ(X,X 0 ) Grad represents gradient operations, k att Is the coefficient of gravitational potential field, ρ (X, X) 0 ) U is the relative distance between the unmanned aerial vehicle and the target point att Is the gravitational potential field to which the unmanned aerial vehicle is subjected,
in a second aspect of the embodiment of the present invention, the detecting, by using a relay target discovery module, a target area to obtain WiFi information and bluetooth information of the target area includes:
s21, detecting a target area by utilizing a WiFi network access attack model to obtain WiFi information of the target area;
s22, detecting a target area by using a Bluetooth micro-network access model to obtain Bluetooth information of the target area.
In a second aspect of the embodiment of the present invention, the detecting, by using a WiFi network access attack model, a target area to obtain WiFi information of the target area includes:
s211, utilizing a WiFi network access attack model to intercept Beacon frames sent by a wireless AP periodically to obtain passive scanning WiFi information of the target area;
s212, a WiFi network access attack model is utilized to send a probe request frame, wiFi information of the target area is scanned, and active scanning WiFi information of the target area is obtained;
and the passive scanning WiFi information of the target area and the active scanning WiFi information of the target area form WiFi information of the target area.
In a second aspect of the embodiment of the present invention, the detecting, by using a bluetooth micro-network access model, a target area to obtain bluetooth information of the target area includes:
s221, directly scanning a target area by utilizing a Bluetooth micro-network access model to obtain visible Bluetooth information of the target area;
s222, performing violent scanning on a target area by using a Bluetooth micro-network access model to obtain invisible Bluetooth information of the target area;
The visible bluetooth information of the target area and the invisible bluetooth information of the target area form bluetooth information of the target area.
In a second aspect of the embodiment of the present invention, the 4G relay module is configured to establish a VPN tunnel, detect a 4G network state of a current environment, obtain current environment 4G network state information, and send the current environment 4G network state information to the remote control module;
when VPN service is overloaded or fails and is down, the 4G relay module automatically restarts VPN service to ensure the stability of a relay line;
the VPN service uses the L2TP protocol and IPSec protocol for encrypted communication.
In a third aspect, an embodiment of the present invention discloses another apparatus for avoiding multi-user interference, where the apparatus includes:
a memory storing executable program code;
a processor coupled to the memory;
the processor invokes the executable program code stored in the memory to perform the multi-mode signaling method according to the first aspect of the embodiment of the present invention.
A fourth aspect of the embodiments of the present invention discloses a computer-readable medium storing computer instructions that, when invoked, are used to perform the multi-modal signal transmission method according to the first aspect of the embodiments of the present invention.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
the invention provides a multi-mode signal transmission method and device, which consists of a relay target discovery module, a relay target connection module, a 4G relay module, an unmanned aerial vehicle comprehensive data display module and a remote control module, wherein the relay target discovery module is used for detecting WiFi network and Bluetooth equipment of a scanning target network area and sending the result to the remote control module; the relay target connection module is used for receiving the WiFi password or the Bluetooth authentication code sent by the remote control module and connecting the WiFi network or the Bluetooth equipment; the 4G relay module is used for establishing a VPN connection circuit through a 4G network, guaranteeing the stability of the VPN connection circuit, detecting the current environment 4G network state and sending the current environment 4G network state to the remote control module; the remote control module is used for controlling the unmanned aerial vehicle comprehensive data display module to display the unmanned aerial vehicle shooting video, the position map, the current environment 4G network state and the target network area network state, and selecting a target WiFi network or a Bluetooth network to send a WiFi password or a Bluetooth authentication code for access. The method can realize remote path planning, remote control, data transmission and display of the unmanned aerial vehicle, the designed path planning method comprehensively considers the interference of obstacles and other unmanned aerial vehicles, and considers the space topography information, so that the finally planned track has good safety, the survival probability of the aircraft is greatly improved in the cruising process, and the probability of the aircraft smoothly achieving the set target is greatly increased.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a multi-mode signal transmission method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an application scenario of a remote breakthrough access relay system of a low-altitude unmanned aerial vehicle according to the embodiment of the present invention;
fig. 3 is a frame diagram of a remote breakthrough access relay system of a low-altitude unmanned aerial vehicle according to the embodiment of the invention;
fig. 4 is a flow chart of a low-altitude unmanned aerial vehicle remote breakthrough access relay system module according to an embodiment of the present invention;
fig. 5 is a schematic diagram of an interface of an internal module of a remote breakthrough access relay system of a low-altitude unmanned aerial vehicle according to the embodiment of the invention;
FIG. 6 is a block diagram of a multi-mode signal transmission device according to an embodiment of the present invention;
fig. 7 is a block diagram of another multimode signal transmission apparatus according to an embodiment of the invention.
Detailed Description
In order to make the present invention better understood by those skilled in the art, the following description will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present invention, 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.
The terms first, second and the like in the description and in the claims and in the above-described figures are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, apparatus, article, or device that comprises a list of steps or elements is not limited to the list of steps or elements but may, in the alternative, include other steps or elements not expressly listed or inherent to such process, method, article, or device.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
The invention discloses a multi-mode signal transmission method and a device, wherein the method comprises the following steps: the unmanned aerial vehicle is subjected to path planning by utilizing a remote control module, the unmanned aerial vehicle is controlled to fly to a target area for landing, and data information of the unmanned aerial vehicle is sent to an unmanned aerial vehicle comprehensive data display module; detecting a target area by using a relay target discovery module to obtain WiFi information and Bluetooth information of the target area and sending the WiFi information and the Bluetooth information to a remote control module; analyzing the WiFi information and the Bluetooth information of the target area by utilizing the remote control module to obtain a connection password of the connection target WiFi network and an authentication code of the Bluetooth equipment, and sending the connection password and the authentication code to the relay target connection module; the relay target connection module is used for accessing the target WiFi network and the Bluetooth device according to the connection password of the connection target WiFi network and the authentication code of the Bluetooth device; and establishing a VPN connection line by using the 4G relay module, detecting the 4G network state of the target area and sending the 4G network state to the remote control module. The following will describe in detail.
Example 1
Referring to fig. 1, fig. 1 is a flow chart of a multi-mode signal transmission method according to an embodiment of the invention. The multi-mode signal transmission method described in fig. 1 is applied to the technical field of wireless communication, for example, performing remote control of an unmanned aerial vehicle, and the embodiment of the invention is not limited. As shown in fig. 1, the multi-mode signal transmission method may include the following operations:
s1, carrying out path planning on an unmanned aerial vehicle by utilizing a remote control module to obtain path information of the unmanned aerial vehicle, controlling the unmanned aerial vehicle to fly to a target area for landing according to the path information of the unmanned aerial vehicle, and sending data information of the unmanned aerial vehicle to an unmanned aerial vehicle comprehensive data display module;
the data information of the unmanned aerial vehicle comprises video data shot by the unmanned aerial vehicle, unmanned aerial vehicle running state data and a map of the current position of the unmanned aerial vehicle;
s2, detecting a target area by using a relay target discovery module to obtain WiFi information and Bluetooth information of the target area, and sending the WiFi information and the Bluetooth information of the target area to the remote control module;
s3, analyzing the WiFi information and the Bluetooth information of the target area by using the remote control module to obtain a connection password of a connection target WiFi network and an authentication code of the Bluetooth device, and sending the connection password of the connection target WiFi network and the authentication code of the Bluetooth device to the relay target connection module;
S4, accessing the target WiFi network and the Bluetooth device by using the relay target connection module according to the connection password of the connection target WiFi network and the authentication code of the Bluetooth device;
s5, establishing a VPN connection line by using a 4G relay module, detecting the 4G network state of a target area, obtaining 4G network state information, and sending the 4G network state information to the remote control module;
s6, the remote control module is utilized to send the connection password of the connection target WiFi network, the authentication code of the Bluetooth device and the 4G network state information to the unmanned aerial vehicle comprehensive data display module;
s7, utilizing the unmanned aerial vehicle comprehensive data display module to display video data shot by the unmanned aerial vehicle, unmanned aerial vehicle running state data, a map of the current position of the unmanned aerial vehicle, a connection password of the connection target WiFi network and an authentication code of Bluetooth equipment, and 4G network state information.
Optionally, the performing path planning on the unmanned aerial vehicle by using the remote control module, to obtain path information of the unmanned aerial vehicle, includes:
s11, carrying out global path planning on the unmanned aerial vehicle by utilizing a remote control module, controlling the unmanned aerial vehicle to fly along a line planned by the global path, and monitoring the surrounding environment in real time;
S12, if the surrounding environment finds an unknown obstacle or other unmanned aerial vehicle threats, the remote control module judges the unknown obstacle or other unmanned aerial vehicle threats to obtain a judging result; if the judgment result is that the unmanned aerial vehicle route cannot be influenced, flying along the route planned by the global path, and if the judgment result is that the unmanned aerial vehicle route cannot be influenced, executing S13;
s13, setting a starting point and a local target point of the entering local path planning unmanned aerial vehicle, and setting path planning parameters;
the starting point is the current position of the unmanned aerial vehicle, and the local target point is the position of the next global track point;
s14, processing the path planning parameters by utilizing a local path planning model to obtain resultant force born by the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to move along the direction of the resultant force;
s15, judging whether the unmanned aerial vehicle breaks away from an unknown obstacle or other unmanned aerial vehicle threats, if yes, executing S14, and if not, storing local track points to obtain path information of the unmanned aerial vehicle.
Optionally, the processing the path planning parameter by using a local path planning model to obtain a resultant force suffered by the unmanned aerial vehicle includes:
Processing attractive force of the flight path target point on the unmanned aerial vehicle and repulsive force generated by the obstacle by utilizing a local path planning model to obtain resultant force born by the unmanned aerial vehicle;
the local path planning model is as follows:
wherein N is the number of barriers, F repj For the repulsive force of the j-th obstacle, F att (X) is the attractive force of the track target point on the unmanned aerial vehicle, and F (X) is the resultant force received by the unmanned aerial vehicle; f (F) att (X)＝-grad[U att (X)]＝-k att ρ(X,X 0 ) Grad represents gradient operations, k att Is the coefficient of gravitational potential field, ρ (X, X) 0 ) U is the relative distance between the unmanned aerial vehicle and the target point att Is the gravitational potential field to which the unmanned aerial vehicle is subjected,
optionally, the detecting the target area by using the relay target discovery module to obtain WiFi information and bluetooth information of the target area includes:
s21, detecting a target area by utilizing a WiFi network access attack model to obtain WiFi information of the target area;
s22, detecting a target area by using a Bluetooth micro-network access model to obtain Bluetooth information of the target area.
Optionally, the detecting the target area by using the WiFi network access attack model to obtain WiFi information of the target area includes:
s211, utilizing a WiFi network access attack model to intercept Beacon frames sent by a wireless AP periodically to obtain passive scanning WiFi information of the target area;
S212, a WiFi network access attack model is utilized to send a probe request frame, wiFi information of the target area is scanned, and active scanning WiFi information of the target area is obtained;
and the passive scanning WiFi information of the target area and the active scanning WiFi information of the target area form WiFi information of the target area.
Optionally, the detecting the target area by using the bluetooth micro-network access model to obtain bluetooth information of the target area includes:
s221, directly scanning a target area by utilizing a Bluetooth micro-network access model to obtain visible Bluetooth information of the target area;
s222, performing violent scanning on a target area by using a Bluetooth micro-network access model to obtain invisible Bluetooth information of the target area;
the visible bluetooth information of the target area and the invisible bluetooth information of the target area form bluetooth information of the target area.
Optionally, the 4G relay module is configured to establish a VPN tunnel, detect a 4G network state of a current environment, obtain current environment 4G network state information, and send the current environment 4G network state information to the remote control module;
when VPN service is overloaded or fails and is down, the 4G relay module automatically restarts VPN service to ensure the stability of a relay line;
The VPN service uses the L2TP protocol and IPSec protocol for encrypted communication.
Optionally, the relay target discovery module is configured to detect a WiFi network condition and a bluetooth device condition of the scanning target network area. And if the target network area is WiFi in quantity, wiFi intensity, MAC address of WiFi AP, wiFi encryption state, MAC address of Bluetooth equipment and the like, and transmitting the scanning result to a remote control module through a 4G network.
WiFi scanning-WiFi scanning enables scanning and discovery of the status of visible WiFi and hidden WiFi within the target area network. Including two scan modes, active scan and passive scan.
Passive scanning refers to that a scanning end discovers surrounding wireless networks by listening to Beacon frames sent periodically by a wireless AP. The AP devices providing wireless network services periodically transmit Beacon frames so that the wireless clients can periodically listen to the Beacon frames on the supported channel list to obtain surrounding wireless network information.
The active scanning mode is that the scanning end sends a Probe Request frame (Probe Request) to scan the wireless network in the channel list supported by the scanning end. When the wireless AP receives the Probe request frame, it responds to the Probe Response frame (Probe Response) to announce the available wireless network information. The WiFi condition of the target network area is maximally discovered by using both the active scanning mode and the passive scanning mode.
Bluetooth scanning-bluetooth scanning can scan and discover the status of visible bluetooth and invisible bluetooth within the target area network. The bluetooth device has both visible and invisible modes depending on whether it can be scanned. For visible Bluetooth devices, the Bluetooth devices can be directly scanned and found, for invisible devices, the invisible Bluetooth devices can be found through violent scanning of Bluetooth MAC addresses, and the Bluetooth devices of the target network area can be found through simultaneous active scanning and violent scanning modes.
The remote unmanned aerial vehicle relay system does not provide WiFi cracking and Bluetooth cracking functions, the WiFi cracking and Bluetooth cracking functions are provided by a WiFi network access attack subsystem and a Bluetooth micro-network access subsystem, the WiFi network access attack subsystem and the Bluetooth micro-network access subsystem crack access parameter information such as WiFi passwords or Bluetooth equipment authentication codes of a target network, wiFi or Bluetooth equipment to be connected is specified through a remote control module, the access parameter information is configured, and the relay target connection module is immediately accessed to the specified WiFi network or Bluetooth equipment after receiving the access parameters.
The near-field unmanned aerial vehicle relay subsystem is communicated with the train set through a 4G network, and the 4G relay module is used for establishing a VPN channel through 4G communication and detecting the current environment 4G network state. After the wireless connection module is accessed to a target network, a remote user can connect the VPN service to establish a connection line, and when the VPN service is overloaded or other faults and downtime occur, the 4G relay module automatically restarts the VPN service to ensure the stability of the relay line. The VPN service uses L2TP protocol and IPSec protocol to encrypt communication, and ensures the safety and reliability of communication link. Meanwhile, the module can detect the 4G network state of the current environment, such as the 4G signal strength and the uplink and downlink speed of the current environment, and transmit the 4G signal strength and the uplink and downlink speed back to the remote control module for display, so that a user can refer to and evaluate the current 4G network environment.
The unmanned aerial vehicle comprehensive data display module is used for displaying data generated in a remote unmanned aerial vehicle flight control stage, network detection data of the relay target discovery module and the 4G relay module, and a user selects WiFi network and Bluetooth equipment to be accessed, and a WiFi password and a Bluetooth connection code are configured for connection. The data generated in the unmanned aerial vehicle flight control stage comprise unmanned aerial vehicle shooting video data, unmanned aerial vehicle running state data, map display of the current position of the unmanned aerial vehicle and the like. The data generated by the 4G relay module are data such as the current environment 4G network state of the unmanned aerial vehicle, the network uplink and downlink speeds, the VPN connection number and the like, and the connection parameters of the network can be configured.
The unmanned aerial vehicle is controlled by a person to fly close to the target network area and land, then the person obtains a WiFi password or a Bluetooth authentication code of the target network by utilizing a WiFi network signal detection and Bluetooth micro-network signal detection signal module to access the target WiFi network or the Bluetooth network, a remote connection channel is established through a 4G network, and finally the target network area is further infiltrated remotely through the 4G network channel. A typical application mode is shown in fig. 2.
Alternatively, the user connects to the VPN service of the drone through a 4G network. And establishing a VPN communication line, and remotely penetrating the target network area through a 4G network channel by a preset network reconnaissance attack subsystem.
Optionally, the 4G relay module may detect a 4G network state of the current environment, such as a 4G signal strength and an uplink and downlink speed of the current environment, and transmit the detected 4G signal strength and uplink and downlink speed back to the remote control module for display, so that a user can perform reference evaluation on the current 4G network environment. Fig. 3 is a frame diagram of a remote breakthrough access relay system of a low-altitude unmanned aerial vehicle according to the embodiment of the invention; fig. 4 is a flow chart of a low-altitude unmanned aerial vehicle remote breakthrough access relay system module according to an embodiment of the present invention; fig. 5 is a schematic diagram of an internal module interface of a remote breakthrough access relay system of a low-altitude unmanned aerial vehicle according to the embodiment of the invention.
Optionally, the following method may be used to perform global path planning on the unmanned aerial vehicle, so as to obtain path information of the unmanned aerial vehicle:
1) And establishing a three-dimensional model, and determining a cost function and constraint conditions of the unmanned aerial vehicle path planning problem. And establishes initial information of the quantum ant colony algorithm.
2) And generating a certain number of individuals for the population by using the Logistic chaotic map. And calculating the fitness value of the individuals in the population, and selecting the individuals with better fitness value as the population initialization individuals.
3) And carrying out iterative search of the quantum ant colony algorithm. In each iteration, the individual position is updated according to the quantum ant colony algorithm behavior, and a nonlinear energy factor is used for updating strategies, so that the individual position moves towards a direction with a lower fitness value.
4) And in the local searching stage, searching the local solution space by adopting chaotic mapping to ensure that the local solution space jumps out of a local optimal value.
5) Repeating 3) and 4) until an algorithm termination condition is met (maximum number of iterations is reached or fitness value reaches a change threshold).
6) Outputting the adaptability optimal value to obtain the unmanned plane path planning diagram.
The unmanned aerial vehicle local path planning is carried out by the following method:
the total potential field function experienced by the unmanned aerial vehicle in the potential field space is:
U t (X)＝U att (X)+U rep (X)
in U t (X) is the potential field space where the unmanned aerial vehicle is located, X is the unmanned aerial vehicle, U att (X) is the gravitational potential field suffered by the unmanned aerial vehicle, U rep And (X) is a repulsive potential field suffered by the unmanned aerial vehicle. The repulsive potential field suffered by the unmanned aerial vehicle is as follows:
wherein k is rep To repulsive potential field coefficient ρ (X, X 0 ) X is the relative distance between the unmanned aerial vehicle and the obstacle 0 As an obstacle ρ 0 For the threshold value, only can the repulsive force of the obstacle influence when being less than the threshold value for the distance between the unmanned aerial vehicle and the obstacle, the attractive force potential field that the unmanned aerial vehicle receives is:
wherein k is att Expressed as gravitational potential field coefficients, ρ (X, X) T ) Expressed as the relative distance of the unmanned plane and the target point, X T Is the target point.
The repulsive force suffered by the unmanned aerial vehicle is as follows:
grad represents gradient operation, and the gravitation born by the unmanned aerial vehicle is as follows:
F att (X)＝-grad[U att (X)]＝-k att ρ(X,X 0 )
The potential field space has a plurality of barriers, and as known by the superposition of the forces, the resultant force F (X) suffered by the unmanned aerial vehicle can be expressed as:
wherein N is the number of obstacles, F repj The direction of the resultant force F (X) is the movement direction of the unmanned plane for the repulsive force of the jth obstacle.
Alternatively, the following modifications may be employed to solve the target unreachable problem.
The improved repulsive potential field function is:
the corresponding repulsive force formula is:
wherein m is an integer, F rep1 F for repulsive force directed to the unmanned aerial vehicle by the obstacle rep2 In order to achieve the repulsive force directed to the target point by the unmanned aerial vehicle, when the unmanned aerial vehicle is closer to the target point, the repulsive force potential field is smaller, so that the whole potential field is globally minimum only at the target point.
Example two
Referring to fig. 6, fig. 6 is a flow chart illustrating a structure of a multi-mode signal transmission device according to an embodiment of the invention. The multi-mode signal transmission device described in fig. 6 is applied to the technical field of wireless communication, such as performing remote control of an unmanned aerial vehicle, and embodiments of the present invention are not limited. As shown in fig. 6, the multi-mode signal transmission apparatus may include the following operations:
s301, performing path planning on an unmanned aerial vehicle by using a remote control module to obtain path information of the unmanned aerial vehicle, controlling the unmanned aerial vehicle to fly to a target area for landing according to the path information of the unmanned aerial vehicle, and sending data information of the unmanned aerial vehicle to an unmanned aerial vehicle comprehensive data display module;
The data information of the unmanned aerial vehicle comprises video data shot by the unmanned aerial vehicle, unmanned aerial vehicle running state data and a map of the current position of the unmanned aerial vehicle;
s302, a target detection unit is used for detecting a target area by using a relay target discovery module to obtain WiFi information and Bluetooth information of the target area, and sending the WiFi information and the Bluetooth information of the target area to the remote control module;
s303, a network analysis unit is used for analyzing the WiFi information and the Bluetooth information of the target area by utilizing the remote control module to obtain a connection password of a connection target WiFi network and an authentication code of a Bluetooth device, and sending the connection password of the connection target WiFi network and the authentication code of the Bluetooth device to the relay target connection module;
s304, a target access unit, which is used for accessing the target WiFi network and the Bluetooth device according to the connection password of the connecting target WiFi network and the authentication code of the Bluetooth device by using the relay target connection module;
s305, a 4G communication unit, which is used for establishing a VPN connection line by using a 4G relay module, detecting the 4G network state of a target area to obtain 4G network state information, and sending the 4G network state information to the remote control module;
S306, a data transmitting unit, which is used for transmitting the connection password of the connection target WiFi network, the authentication code of the Bluetooth device and the 4G network state information to the unmanned aerial vehicle comprehensive data display module by using the remote control module;
s307, an information display unit is used for displaying video data shot by the unmanned aerial vehicle, unmanned aerial vehicle running state data, a map of the current position of the unmanned aerial vehicle, a connection password of the connection target WiFi network and an authentication code of Bluetooth equipment and the 4G network state information by using the unmanned aerial vehicle comprehensive data display module.
Example III
Referring to fig. 7, fig. 7 is a flow chart illustrating a structural diagram of a multi-mode signal transmission device according to another embodiment of the invention. The multi-mode signal transmission device described in fig. 7 is applied to the technical field of wireless communication, such as performing remote control of an unmanned aerial vehicle, and embodiments of the present invention are not limited. As shown in fig. 7, the multi-mode signal transmission apparatus may include the following operations:
a memory 401 storing executable program codes;
a processor 402 coupled with the memory 401;
the processor 402 invokes executable program code stored in the memory 401 for performing the steps in the multi-modal signaling method described in embodiment one.
Example IV
The embodiment of the invention discloses a computer-readable storage medium storing a computer program for electronic data exchange, wherein the computer program causes a computer to execute the steps in the multi-mode signal transmission method described in the embodiment one.
The apparatus embodiments described above are merely illustrative, in which the modules illustrated as separate components may or may not be physically separate, and the components shown as modules may or may not be physical, i.e., may be located in one place, or may be distributed over multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above detailed description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course by means of hardware. Based on such understanding, the foregoing technical solutions may be embodied essentially or in part in the form of a software product that may be stored in a computer-readable storage medium including Read-Only Memory (ROM), random-access Memory (Random Access Memory, RAM), programmable Read-Only Memory (Programmable Read-Only Memory, PROM), erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), one-time programmable Read-Only Memory (OTPROM), electrically erasable programmable Read-Only Memory (EEPROM), compact disc Read-Only Memory (Compact Disc Read-Only Memory, CD-ROM) or other optical disc Memory, magnetic disc Memory, tape Memory, or any other medium that can be used for computer-readable carrying or storing data.
Finally, it should be noted that: the embodiment of the invention discloses a multi-mode signal transmission method and device, which are disclosed as preferred embodiments of the invention, and are only used for illustrating the technical scheme of the invention, but not limiting the technical scheme; although the invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that; the technical scheme recorded in the various embodiments can be modified or part of technical features in the technical scheme can be replaced equivalently; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (10)
1. A method of multi-modal signal transmission, the method comprising:
s1, carrying out path planning on an unmanned aerial vehicle by utilizing a remote control module to obtain path information of the unmanned aerial vehicle, controlling the unmanned aerial vehicle to fly to a target area for landing according to the path information of the unmanned aerial vehicle, and sending data information of the unmanned aerial vehicle to an unmanned aerial vehicle comprehensive data display module;
the data information of the unmanned aerial vehicle comprises video data shot by the unmanned aerial vehicle, unmanned aerial vehicle running state data and a map of the current position of the unmanned aerial vehicle;
S2, detecting a target area by using a relay target discovery module to obtain WiFi information and Bluetooth information of the target area, and sending the WiFi information and the Bluetooth information of the target area to the remote control module;
s3, analyzing the WiFi information and the Bluetooth information of the target area by using the remote control module to obtain a connection password of a connection target WiFi network and an authentication code of the Bluetooth device, and sending the connection password of the connection target WiFi network and the authentication code of the Bluetooth device to the relay target connection module;
s4, accessing the target WiFi network and the Bluetooth device by using the relay target connection module according to the connection password of the connection target WiFi network and the authentication code of the Bluetooth device;
s5, establishing a VPN connection line by using a 4G relay module, detecting the 4G network state of a target area, obtaining 4G network state information, and sending the 4G network state information to the remote control module;
s6, the remote control module is utilized to send the connection password of the connection target WiFi network, the authentication code of the Bluetooth device and the 4G network state information to the unmanned aerial vehicle comprehensive data display module;
S7, utilizing the unmanned aerial vehicle comprehensive data display module to display video data shot by the unmanned aerial vehicle, unmanned aerial vehicle running state data, a map of the current position of the unmanned aerial vehicle, a connection password of the connection target WiFi network and an authentication code of Bluetooth equipment, and 4G network state information.
2. The method for transmitting multi-mode signals according to claim 1, wherein the step of planning the path of the unmanned aerial vehicle by using the remote control module to obtain the path information of the unmanned aerial vehicle comprises the steps of:
s11, carrying out global path planning on the unmanned aerial vehicle by utilizing a remote control module, controlling the unmanned aerial vehicle to fly along a line planned by the global path, and monitoring the surrounding environment in real time;
s12, if the surrounding environment finds an unknown obstacle or other unmanned aerial vehicle threats, the remote control module judges the unknown obstacle or other unmanned aerial vehicle threats to obtain a judging result; if the judgment result is that the unmanned aerial vehicle route cannot be influenced, flying along the route planned by the global path, and if the judgment result is that the unmanned aerial vehicle route cannot be influenced, executing S13;
s13, setting a starting point and a local target point of the entering local path planning unmanned aerial vehicle, and setting path planning parameters;
The starting point is the current position of the unmanned aerial vehicle, and the local target point is the position of the next global track point;
s14, processing the path planning parameters by utilizing a local path planning model to obtain resultant force born by the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to move along the direction of the resultant force;
s15, judging whether the unmanned aerial vehicle breaks away from an unknown obstacle or other unmanned aerial vehicle threats, if yes, executing S14, and if not, storing local track points to obtain path information of the unmanned aerial vehicle.
3. The method for multi-mode signal transmission according to claim 2, wherein the processing the path planning parameters by using a local path planning model to obtain a resultant force suffered by the unmanned aerial vehicle comprises:
processing attractive force of the flight path target point on the unmanned aerial vehicle and repulsive force generated by the obstacle by utilizing a local path planning model to obtain resultant force born by the unmanned aerial vehicle;
the local path planning model is as follows:
wherein N is the number of barriers, F repj For the repulsive force of the j-th obstacle, F att (X) is the attractive force of the track target point on the unmanned aerial vehicle, and F (X) is the resultant force received by the unmanned aerial vehicle; f (F) att (X)＝-grad[U att (X)]＝-k att ρ(X,X 0 ) Grad represents gradient operations, k att Is the coefficient of gravitational potential field, ρ (X, X) 0 ) U is the relative distance between the unmanned aerial vehicle and the obstacle att Is the gravitational potential field to which the unmanned aerial vehicle is subjected,ρ(X,X T ) Is the relative distance between the unmanned aerial vehicle and the target point.
4. The method for transmitting a multi-mode signal according to claim 1, wherein the detecting the target area by using the relay target discovery module to obtain WiFi information and bluetooth information of the target area includes:
s21, detecting a target area by utilizing a WiFi network access attack model to obtain WiFi information of the target area;
s22, detecting a target area by using a Bluetooth micro-network access model to obtain Bluetooth information of the target area.
5. The method for transmitting a multi-mode signal according to claim 4, wherein the detecting the target area by using the WiFi network access attack model to obtain WiFi information of the target area includes:
s211, utilizing a WiFi network access attack model to intercept Beacon frames sent by a wireless AP periodically to obtain passive scanning WiFi information of the target area;
s212, a WiFi network access attack model is utilized to send a probe request frame, wiFi information of the target area is scanned, and active scanning WiFi information of the target area is obtained;
And the passive scanning WiFi information of the target area and the active scanning WiFi information of the target area form WiFi information of the target area.
6. The method for transmitting multi-mode signals according to claim 4, wherein the detecting the target area by using the bluetooth micro-network access model to obtain bluetooth information of the target area comprises:
s221, directly scanning a target area by utilizing a Bluetooth micro-network access model to obtain visible Bluetooth information of the target area;
s222, performing violent scanning on a target area by using a Bluetooth micro-network access model to obtain invisible Bluetooth information of the target area;
the visible bluetooth information of the target area and the invisible bluetooth information of the target area form bluetooth information of the target area.
7. The multi-mode signal transmission method according to claim 1, wherein the 4G relay module is configured to establish a VPN tunnel, detect a 4G network state of a current environment, obtain current environment 4G network state information, and send the current environment 4G network state information to a remote control module;
when VPN service is overloaded or fails and is down, the 4G relay module automatically restarts VPN service to ensure the stability of a relay line;
The VPN service uses the L2TP protocol and IPSec protocol for encrypted communication.
8. A multi-modal signal transmission apparatus, the apparatus comprising:
the path planning unit is used for planning a path of the unmanned aerial vehicle by using the remote control module to obtain path information of the unmanned aerial vehicle, controlling the unmanned aerial vehicle to fly to a target area for landing according to the path information of the unmanned aerial vehicle, and sending data information of the unmanned aerial vehicle to the unmanned aerial vehicle comprehensive data display module;
the data information of the unmanned aerial vehicle comprises video data shot by the unmanned aerial vehicle, unmanned aerial vehicle running state data and a map of the current position of the unmanned aerial vehicle;
the target detection unit is used for detecting a target area by using the relay target discovery module to obtain WiFi information and Bluetooth information of the target area, and sending the WiFi information and the Bluetooth information of the target area to the remote control module;
the network analysis unit is used for analyzing the WiFi information and the Bluetooth information of the target area by utilizing the remote control module to obtain a connection password of a connection target WiFi network and an authentication code of the Bluetooth device, and sending the connection password of the connection target WiFi network and the authentication code of the Bluetooth device to the relay target connection module;
The target access unit is used for accessing the target WiFi network and the Bluetooth device according to the connection password of the connecting target WiFi network and the authentication code of the Bluetooth device by utilizing the relay target connection module;
the 4G communication unit is used for establishing a VPN connection circuit by utilizing the 4G relay module, detecting the 4G network state of the target area, obtaining 4G network state information and sending the 4G network state information to the remote control module;
the data transmitting unit is used for transmitting the connection password of the connection target WiFi network, the authentication code of the Bluetooth device and the 4G network state information to the unmanned aerial vehicle comprehensive data display module by utilizing the remote control module;
the information display unit is used for displaying video data shot by the unmanned aerial vehicle, unmanned aerial vehicle running state data, a map of the current position of the unmanned aerial vehicle, a connection password of the connection target WiFi network and an authentication code of Bluetooth equipment and 4G network state information by using the unmanned aerial vehicle comprehensive data display module.
9. A multi-modal signal transmission apparatus, the apparatus comprising:
a memory storing executable program code;
a processor coupled to the memory;
The processor invokes the executable program code stored in the memory to perform the multi-modal signaling method of any one of claims 1-7.
10. A computer-storable medium storing computer instructions for the multi-modal signal transmission method according to any one of claims 1-7 when called.
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