CN205229810U - Many unmanned aerial vehicle low latitude monitored control system based on mobile communication network - Google Patents
Many unmanned aerial vehicle low latitude monitored control system based on mobile communication network Download PDFInfo
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Abstract
The utility model discloses a many unmanned aerial vehicle low latitude monitored control system based on mobile communication network, carry control system including ground monitor computer with the machine that is located on the unmanned aerial vehicle, ground monitor computer passes through the mobile communication terminal with a machine year control system and links to each other, the machine carries control system and includes that quick -witted carrying flies to control computer and machine year task control computer, flew to control the computer and be connected with sensing device such as satellite positioning equipment, triaxial accelerometer, three -axis gyroscope, magnetic compass, airspeed meters in quick -witted year, the machine carries and flies to control computer link 4G mobile communication terminal and be connected with flight actuating mechanism such as screw speed control system and steering wheels, the machine carries task control computer connects task load system, ground monitor computer's input and remote sensing control device link to each other, and the 4G mobile communication terminal is connected to first communication end. The utility model discloses the low latitude within range that can cover at mobile network carries out real time monitoring to many unmanned aerial vehicle's various states, and fail safe nature is high.
Description
Technical field
The utility model relates to a kind of monitoring unmanned system, particularly relates to a kind of multiple no-manned plane low latitude supervisory system based on mobile communications network.
Background technology
Unmanned spacecraft is called for short " unmanned plane ", and english abbreviation is " UAV ", is the not manned aircraft utilizing radio robot to handle with the presetting apparatus provided for oneself.Can be divided into from technical standpoint definition: depopulated helicopter, unmanned fixed-wing aircraft, unmanned multi-rotor aerocraft, unmanned airship, unmanned parasol etc.Unmanned plane at present taking photo by plane, agricultural plant protection, the field such as mapping obtain widespread use.
Many model telecontrolled aircrafts are also referred to as unmanned plane, and the UAS of complexity is generally made up of aircraft platform system, information acquisition system, Data-Link and ground control system.The unmanned function of a new generation is launched from kinds of platform and reclaims, such as, carry out launching and reclaiming from surface car, naval vessel, aircraft, inferior orbital vehicle and satellite.Ground controlling person also can change the course of unmanned plane as required by its program of counter control, the planning of aerial mission is carried out under region sky photograph, navigation, mixing Three models, and realize boat fly monitoring, the important state such as attitude, orientation, air speed, position, cell voltage, fuel consumption, task status of real-time grasp aircraft, the enforceability of convenient operation personnel real-time judge task, the safety of further guarantee task.
On the other hand, mobile communication network base station wide coverage, technology maturation, be the one effective available data chain resource of monitoring unmanned plane, be therefore necessary to provide a kind of multiple no-manned plane low latitude supervisory system based on mobile communications network.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of multiple no-manned plane low latitude supervisory system based on mobile communications network, can monitor in real time the various states of multiple no-manned plane within the scope of low latitude, wide coverage, safe reliability is high, and is easy to build redundant channel.
The utility model is solve the problems of the technologies described above the technical scheme adopted to be to provide a kind of multiple no-manned plane low latitude supervisory system based on mobile communications network, comprise ground monitoring computing machine and be positioned at the aircraft mounted control system on unmanned plane, wherein, described ground monitoring computing machine is connected by mobile communication terminal with aircraft mounted control system.
The above-mentioned multiple no-manned plane low latitude supervisory system based on mobile communications network, wherein, described aircraft mounted control system comprises the airborne flight control computer of crosslinked communication and airborne mission control computer, described airborne flight control computer connects mobile satellite location equipment by data bus, three axis accelerometer, three-axis gyroscope, magnetic compass, barometric altimeter, pitot meter, ultrasonic sensor, voltage sensor and fuel level sensor receive sensing input signal, described airborne flight control computer exports control signal to screw propeller governing system and steering wheel, described airborne flight control computer is connected 4G mobile communication terminal with the first communication ends of airborne mission control computer, described airborne mission control computer connects mission payload system, the input end of described ground monitoring computing machine is connected with remote sensing actuation means, and the first communication ends of described ground monitoring computing machine connects 4G mobile communication terminal, transmit monitor data by 4G mobile communication terminal between described year flight control computer and ground monitoring computing machine, between described airborne mission control computer and ground monitoring computing machine, transmit video data by 4G mobile communication terminal.
The above-mentioned multiple no-manned plane low latitude supervisory system based on mobile communications network, wherein, the second communication end of described airborne flight control computer connects airborne data transmission terminal, the second communication end of described ground monitoring computing machine connects ground data transmission terminal, forms the redundant channel for transmitting monitor data between described airborne data transmission terminal and ground data transmission terminal; The third communication end of described airborne mission control computer connects airborne figure transmission terminal, the third communication end of described ground monitoring computing machine connects surface map transmission terminal, forms the redundant channel for transmitting video data between described airborne figure transmission terminal and surface map transmission terminal.
The above-mentioned multiple no-manned plane low latitude supervisory system based on mobile communications network, wherein, described monitor data comprises upstream data and downlink data, described upstream data comprises and flies control instruction and task control instruction, described downlink data comprise locator data, highly, speed, course, attitude, voltage, oil consumption, Data-Link state and task status data.
The above-mentioned multiple no-manned plane low latitude supervisory system based on mobile communications network, wherein, described airborne mission control computer connects the unique identification module of unmanned plane by data bus, solidification memory block and customization memory block is provided with in the unique identification module of described unmanned plane, store the identification information of unmanned plane in described solidification memory block, in described customization memory block, record other self-defined information.
The above-mentioned multiple no-manned plane low latitude supervisory system based on mobile communications network, wherein, described mobile satellite location equipment comprises Big Dipper RNSS module, GPS module and GLONASS module.
The above-mentioned multiple no-manned plane low latitude supervisory system based on mobile communications network, wherein, described mission payload system is O-E Payload, radar, tripod head equipment or its combination, and described O-E Payload can be located on The Cloud Terrace.
The above-mentioned multiple no-manned plane low latitude supervisory system based on mobile communications network, wherein, described O-E Payload comprises removable Visible Light Camera and invisible light camera, the first motor that described The Cloud Terrace rotates built with responsible position angle, be responsible for the second motor that the angle of pitch rotates, and the 3rd motor that responsible roll angle rotates, described position angle can continuous rotation 360 degree, described second motor and the 3rd motor are provided with limit switch, the spacing +/-of the described angle of pitch 90 degree, the spacing +/-of roll angle 45 degree.
The above-mentioned multiple no-manned plane low latitude supervisory system based on mobile communications network, wherein, described remote sensing actuation means comprises keyboard, mouse, flight rocking bar, flight throttle, Multi-band switch and button.
The above-mentioned multiple no-manned plane low latitude supervisory system based on mobile communications network, wherein, when described aircraft mounted control system detects the signal strength weakening of 4G mobile communication terminal for below-80dBm, automatically switches to airborne data transmission terminal and airborne figure transmission terminal; Up task control instruction forwards by calculating with airborne task control the airborne flight control computer be connected with descending task status data, and its bi-directional transfer path is: ground monitoring computing machine-ground data transmission terminal-airborne data transmission terminal-airborne flight control computer-airborne mission computer-mission payload system; The working frequency range of described airborne data transmission terminal and ground data transmission terminal is 413MHz or 915MHz, and the working frequency range of described airborne figure transmission terminal and surface map transmission terminal is 2.4GHz or 5.8GHz.
The utility model contrast prior art has following beneficial effect: the multiple no-manned plane low latitude supervisory system based on mobile communications network that the utility model provides, ground monitoring computing machine and aircraft mounted control system is connected by mobile communication terminal, thus within the scope of the low latitude that can cover mobile network, the various states of multiple no-manned plane are monitored in real time, wide coverage, safe reliability is high, and is easy to build redundant channel.
Accompanying drawing explanation
Fig. 1 is the multiple no-manned plane low latitude supervisory system theory diagram of the utility model based on mobile communications network;
Fig. 2 is the multiple no-manned plane low latitude supervisory system configuration diagram of the utility model based on mobile communications network.
Embodiment
Below in conjunction with drawings and Examples, the utility model will be further described.
Fig. 1 is the multiple no-manned plane low latitude supervisory system theory diagram of the utility model based on mobile communications network; Fig. 2 is the multiple no-manned plane low latitude supervisory system configuration diagram of the utility model based on mobile communications network.
Refer to Fig. 1, the multiple no-manned plane low latitude supervisory system based on mobile communications network that the utility model provides, comprise ground monitoring computing machine and be positioned at the aircraft mounted control system on unmanned plane, wherein, described ground monitoring computing machine is connected by mobile communication terminal with aircraft mounted control system.
Please continue see Fig. 2, aircraft mounted control system of the present utility model comprises airborne flight control computer and airborne mission control computer, both are connected by data bus, described airborne flight control computer connects mobile satellite location equipment by data bus, three axis accelerometer, three-axis gyroscope, magnetic compass, barometric altimeter, pitot meter, ultrasonic sensor, voltage sensor and fuel level sensor receive sensing input signal, described airborne flight control computer exports control signal to screw propeller governing system and steering wheel, described airborne flight control computer is connected 4G mobile communication terminal with the first communication ends of airborne mission control computer, described airborne mission control computer connects mission payload system, the input end of described ground monitoring computing machine is connected with remote sensing actuation means, and the first communication ends of described ground monitoring computing machine connects 4G mobile communication terminal, transmit monitor data by 4G mobile communication terminal between described year flight control computer and ground monitoring computing machine, between described airborne mission control computer and ground monitoring computing machine, transmit video data by 4G mobile communication terminal.
Mission payload system of the present utility model is O-E Payload or the equipment such as radar or The Cloud Terrace or its combination, and described O-E Payload can be located on The Cloud Terrace.As adopted visible ray moving camera as O-E Payload, it can be arranged on The Cloud Terrace, the first motor that described The Cloud Terrace rotates built with responsible position angle, be responsible for the second motor that the angle of pitch rotates, be responsible for the 3rd motor that roll angle rotates, position angle can continuous rotation 360 degree, and described second motor and the 3rd motor are provided with limit switch, the spacing +/-of the angle of pitch 90 degree, the spacing +/-of roll angle 45 degree.
The multiple no-manned plane low latitude supervisory system based on mobile communications network that the utility model provides, be easy to build redundant channel, the second communication end of described airborne flight control computer connects airborne data transmission terminal, the second communication end of described ground monitoring computing machine connects ground data transmission terminal, forms the redundant channel for transmitting monitor data between described airborne data transmission terminal and ground data transmission terminal; The third communication end of described airborne mission control computer connects airborne figure transmission terminal, the third communication end of described ground monitoring computing machine connects surface map transmission terminal, forms the redundant channel for transmitting video data between described airborne figure transmission terminal and surface map transmission terminal.
The multiple no-manned plane low latitude supervisory system based on mobile communications network that the utility model provides, monitoring and controlling can be carried out to all cooperation unmanned planes in 4G mobile communication wireless signal cover, a kind of technological approaches having the unmanned plane run within the scope of the low latitude in people region to carry out traffic monitoring is provided, there is following features:
1, a station is to multimachine function, and namely a ground system monitors multi rack cooperation unmanned plane simultaneously.
Unmanned aerial vehicle onboard mission control computer is connected with unmanned plane identification module, by this module unique identification one frame unmanned plane, thus realizes a station multimachine function.Identification module is divided into two memory blocks, solidification memory block and customization memory block, and unmanned plane identification information storage is in solidification memory block, and solidification memory block information sets when dispatching from the factory, and user can not revise, and other self-defined information can be recorded in customization memory block.Ground system is connected to unmanned aerial vehicle onboard mission control computer by wired or mobile Internet, modifies to the self-defined information of the customization memory block in unmanned plane recognition system after obtaining super-ordinate right.The information that unmanned plane identification module exports shows on flight monitoring software.
2, low latitude monitoring function.
Unmanned aerial vehicle onboard mission control computer is connected with 4G mobile communication module, is provided with SIM card in 4G module, can access mobile Internet.Ground system is by wired or 4G mobile communication module accessing Internet.
Because 4G mobile communications network can cover low clearance area, thus cooperation unmanned plane and ground system can carry out remote data communication, reach the object of low latitude unmanned plane supervisory and control.
3, Data-Link intelligent management
Cooperation unmanned plane encumbrance passes, figure facsimile communication equipment, as Backup Data chain, when 4G signal weakens as (signal more weak and cannot meet bandwidth sum requirement of real-time) during below-80dBm, automatic seamless switches to that number passes, figure passes data link, and sends alarm.Wherein, task data bi-directional transfer path is: ground monitoring computing machine-ground data transmission terminal-airborne data transmission terminal-airborne flight control computer-airborne mission computer-mission payload, namely up task data is by ground monitoring computing machine, arrives mission payload system successively through ground data transmission terminal, airborne data transmission terminal, airborne flight control computer, airborne mission computer; Otherwise descending task data is by mission payload system, reach ground monitoring computing machine through airborne mission computer, airborne flight control computer, airborne data transmission terminal, ground data transmission terminal successively.The working frequency range of described airborne data transmission terminal is 413MHz or 915MHz, because 915mhz and mobile 2G (GSM) 900mhz is close to being disturbed, generally selects the communication terminal of 413Mhz; The working frequency range of described airborne figure transmission terminal is 2.4GHz or 5.8GHz.
The concrete function of each main modular of cooperation unmanned plane of the present utility model and ground system and composed as follows:
One, cooperation unmanned plane
1) form
Cooperation unmanned plane is made up of aircraft mounted control system, mission payload, data communication system airborne data terminal and unmanned plane identification module.Wherein, aircraft mounted control system is made up of airborne flight control computer, airborne mission control computer, mobile satellite location equipment, three axis accelerometer, three-axis gyroscope, magnetic compass, barometric altimeter, pitot meter, ultrasonic sensor, voltage sensor, fuel level sensor, screw propeller governing system, steering wheel etc.; Data communication system airborne data terminal comprises airborne 4G mobile communication terminal, airborne data transmission terminal, airborne figure transmission terminal; Mission payload module interface as required can carry The Cloud Terrace, O-E Payload, radar etc.Mobile satellite location equipment adopts redundance design, comprise Big Dipper RNSS (RadioNavigationSatelliteSystem), GPS (GlobalPositioningSystem), GLONASS (GLOBALNAVIGATIONSATELLITESYSTEM), each mobile satellite location equipment can backup each other, and one of them Module Fail does not affect satellite location data and exports.Data fusion is carried out to mobile satellite location equipment and inertial sensor, adopts used group/satellite deep integrated navigation algorithm, high precision navigation data is provided.
2) crosslinked
Airborne flight control computer and airborne mission control computer and other air environment are cross-linked with each other, as shown in system chart.Mission control computer is responsible for mission payload correlation data calculation and distribution, the flight control computer navigation of being responsible for unmanned aerial vehicle platform with supervise data and calculate and distribute.
3) data communication
Be provided with SIM card in 4G mobile communication module, unmanned plane is by this module access mobile Internet; Air-Ground data is preferentially transmitted by 4G mobile communication internet, when 4G signal weaken cannot or unstable and bandwidth sum requirement of real-time cannot be met time, automatic seamless switches to number and passes, schemes to pass data link, and wherein number passes and is used for transmitting monitor data, schemes to pass to be used for transformation task data.
4) identification module
Unmanned plane identification module has uniqueness, can unique identification one frame unmanned plane, identification module is divided into two memory blocks, solidification memory block and customization memory block, being stored in solidification memory block of identification information, solidify memory block information and set when dispatching from the factory, user can not revise, other self-defined information can be recorded in customization memory block, can safeguard after the Mission Monitor software acquisition super-ordinate right of ground system to the self-defined information of customization memory block.
Two, ground system
1) form
Ground system is made up of ground monitoring system and data communication system ground data terminal.Wherein ground monitoring system is made up of supervisory control comuter and actuation means; Data communication system ground data terminal comprises ground 4G mobile communication terminal, ground data transmission terminal, surface map transmission terminal.
2) major function
Ground monitoring system has flight monitoring, Mission Monitor, priority assignation, optimum configurations and other correlation function.Wherein priority assignation can be divided into super-ordinate right and general authority, and super-ordinate right can be modified to the self-defined information of above-mentioned identification module.
3) low latitude monitoring
Ground system is by wired or 4G mobile communication module accessing Internet.Ground system carries out radio communication by ground data terminal and airborne data terminal, realizes low latitude monitoring unmanned.Downlink data comprises the task datas such as Flight Condition Data and video such as navigation positioning data, speed, course, attitude, voltage, oil consumption, and upstream data comprises and flies the control data such as instruction, task control instruction.
4) multiple no-manned plane monitors
After ground-based computer receives down the unmanned plane identification module information transmitted, coordinate other downlink data calculate in real time and process, carry out real-time update to monitor data, realize the positional information of multiple no-manned plane, fly the real time monitoring of control state, mission bit stream, communication link state etc. on the numerical map of ground monitoring system He in list.
5) multiple no-manned plane controls
In map or list, choose a frame unmanned plane with mouse or the middle identification information inputting certain unmanned plane in monitoring interface, just can from multiple UAVs, controlled unmanned plane be screened out and control, realize flight and control and task control.
6) operating means
Actuation means comprises and has the various ways such as keyboard, mouse, flight rocking bar, flight throttle, Multi-band switch, button.Multi-band switch, button etc. can carry out self-defined setting.
Although the utility model discloses as above with preferred embodiment; so itself and be not used to limit the utility model; any those skilled in the art; not departing from spirit and scope of the present utility model; when doing a little amendment and perfect, therefore protection domain of the present utility model is when being as the criterion of defining with claims.
Claims (9)
1., based on a multiple no-manned plane low latitude supervisory system for mobile communications network, comprise ground monitoring computing machine and be positioned at the aircraft mounted control system on unmanned plane, it is characterized in that, described ground monitoring computing machine is connected by mobile communication terminal with aircraft mounted control system, described aircraft mounted control system comprises the airborne flight control computer of crosslinked communication and airborne mission control computer, described airborne flight control computer connects mobile satellite location equipment by data bus, three axis accelerometer, three-axis gyroscope, magnetic compass, barometric altimeter, pitot meter, ultrasonic sensor, voltage sensor and fuel level sensor receive sensing input signal, described airborne flight control computer exports control signal to screw propeller governing system and steering wheel, described airborne flight control computer is connected 4G mobile communication terminal with the first communication ends of airborne mission control computer, described airborne mission control computer connects mission payload system, the input end of described ground monitoring computing machine is connected with remote sensing actuation means, and the first communication ends of described ground monitoring computing machine connects 4G mobile communication terminal, transmit monitor data by 4G mobile communication terminal between described airborne flight control computer and ground monitoring computing machine, between described airborne mission control computer and ground monitoring computing machine, transmit video data by 4G mobile communication terminal.
2. as claimed in claim 1 based on the multiple no-manned plane low latitude supervisory system of mobile communications network, it is characterized in that, the second communication end of described airborne flight control computer connects airborne data transmission terminal, the second communication end of described ground monitoring computing machine connects ground data transmission terminal, forms the redundant channel for transmitting monitor data between described airborne data transmission terminal and ground data transmission terminal; The third communication end of described airborne mission control computer connects airborne figure transmission terminal, the third communication end of described ground monitoring computing machine connects surface map transmission terminal, forms the redundant channel for transmitting video data between described airborne figure transmission terminal and surface map transmission terminal.
3. as claimed in claim 1 or 2 based on the multiple no-manned plane low latitude supervisory system of mobile communications network, it is characterized in that, described monitor data comprises upstream data and downlink data, described upstream data comprises and flies control instruction and task control instruction, described downlink data comprise locator data, highly, speed, course, attitude, voltage, oil consumption, Data-Link state and task status data.
4. as claimed in claim 1 based on the multiple no-manned plane low latitude supervisory system of mobile communications network, it is characterized in that, described airborne mission control computer connects the unique identification module of unmanned plane by data bus, solidification memory block and customization memory block is provided with in the unique identification module of described unmanned plane, store the identification information of unmanned plane in described solidification memory block, in described customization memory block, record self-defined information.
5., as claimed in claim 1 based on the multiple no-manned plane low latitude supervisory system of mobile communications network, it is characterized in that, described mobile satellite location equipment comprises Big Dipper RNSS module, GPS module and GLONASS module.
6. as claimed in claim 1 based on the multiple no-manned plane low latitude supervisory system of mobile communications network, it is characterized in that, described mission payload system is O-E Payload, radar, tripod head equipment or its combination, and described O-E Payload can be located on The Cloud Terrace.
7. as claimed in claim 6 based on the multiple no-manned plane low latitude supervisory system of mobile communications network, it is characterized in that, described O-E Payload comprises removable Visible Light Camera and invisible light camera, the first motor that described The Cloud Terrace rotates built with responsible position angle, be responsible for the second motor that the angle of pitch rotates, and the 3rd motor that responsible roll angle rotates, described position angle can continuous rotation 360 degree, described second motor and the 3rd motor are provided with limit switch, the spacing +/-of the described angle of pitch 90 degree, the spacing +/-of roll angle 45 degree.
8. as claimed in claim 1 based on the multiple no-manned plane low latitude supervisory system of mobile communications network, it is characterized in that, described remote sensing actuation means comprises keyboard, mouse, flight rocking bar, flight throttle, Multi-band switch and button.
9. as claimed in claim 2 based on the multiple no-manned plane low latitude supervisory system of mobile communications network, it is characterized in that, when described aircraft mounted control system detects the signal strength weakening of 4G mobile communication terminal for below-80dBm, automatically switch to airborne data transmission terminal and airborne figure transmission terminal; Up task control instruction forwards by calculating with airborne task control the airborne flight control computer be connected with descending task status data, and its bi-directional transfer path is: ground monitoring computing machine-ground data transmission terminal-airborne data transmission terminal-airborne flight control computer-airborne mission computer-mission payload system; The working frequency range of described airborne data transmission terminal and ground data transmission terminal is 413MHz or 915MHz, and the working frequency range of described airborne figure transmission terminal and surface map transmission terminal is 2.4GHz or 5.8GHz.
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| CN105388907A (en) * | 2015-12-11 | 2016-03-09 | 上海埃威航空电子有限公司 | Mobile communication network-based multi-unmanned aerial vehicle low-altitude monitoring system |
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| CN108614577A (en) * | 2018-05-30 | 2018-10-02 | 中国联合网络通信集团有限公司 | The information transferring method and device of unmanned plane |
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| CN112671454A (en) * | 2020-12-23 | 2021-04-16 | 北京微纳星空科技有限公司 | Communication method, communication terminal and computer readable storage medium |
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| CN105388907A (en) * | 2015-12-11 | 2016-03-09 | 上海埃威航空电子有限公司 | Mobile communication network-based multi-unmanned aerial vehicle low-altitude monitoring system |
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| WO2017214863A1 (en) * | 2016-06-14 | 2017-12-21 | SZ DJI Technology Co., Ltd. | Data distribution from a movable object |
| CN106788677A (en) * | 2016-12-09 | 2017-05-31 | 佛山科学技术学院 | A kind of Unmanned Aerial Vehicle Data relay and its method based on mobile data network |
| CN106788677B (en) * | 2016-12-09 | 2022-05-06 | 佛山科学技术学院 | Unmanned aerial vehicle data relay device based on mobile data network and method thereof |
| CN107180561A (en) * | 2017-07-04 | 2017-09-19 | 中国联合网络通信集团有限公司 | A kind of unmanned plane during flying monitoring and managing method, platform and system |
| CN109937439A (en) * | 2017-09-29 | 2019-06-25 | 深圳市大疆创新科技有限公司 | A kind of method and circuit for protecting flight control system |
| CN108200167A (en) * | 2017-12-29 | 2018-06-22 | 南京奇蛙智能科技有限公司 | A kind of long-range multipath combination control method of unmanned plane based on high in the clouds |
| CN108200167B (en) * | 2017-12-29 | 2021-07-30 | 南京奇蛙智能科技有限公司 | Cloud-based remote multi-path combined control method for unmanned aerial vehicle |
| CN108614577A (en) * | 2018-05-30 | 2018-10-02 | 中国联合网络通信集团有限公司 | The information transferring method and device of unmanned plane |
| CN108614577B (en) * | 2018-05-30 | 2021-02-09 | 中国联合网络通信集团有限公司 | Information transmission method and device for unmanned aerial vehicle |
| CN110942673A (en) * | 2018-09-21 | 2020-03-31 | 郑州信大捷安信息技术股份有限公司 | Control system and method based on different identities between unmanned aerial vehicles |
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| CN112714281A (en) * | 2020-12-19 | 2021-04-27 | 西南交通大学 | Unmanned aerial vehicle carries VR video acquisition transmission device based on 5G network |
| CN112671454A (en) * | 2020-12-23 | 2021-04-16 | 北京微纳星空科技有限公司 | Communication method, communication terminal and computer readable storage medium |
| CN116909189A (en) * | 2023-07-21 | 2023-10-20 | 无锡艾而帆航空科技有限公司 | Redundant switching and parachute opening method, system, equipment and medium for unmanned aerial vehicle |
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