CN205281183U - Low latitude environmental monitoring unmanned aerial vehicle system - Google Patents
Low latitude environmental monitoring unmanned aerial vehicle system Download PDFInfo
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- CN205281183U CN205281183U CN201521131268.5U CN201521131268U CN205281183U CN 205281183 U CN205281183 U CN 205281183U CN 201521131268 U CN201521131268 U CN 201521131268U CN 205281183 U CN205281183 U CN 205281183U
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Abstract
The utility model discloses a low latitude environmental monitoring unmanned aerial vehicle system, including the barometric height meter, ground magnetic sensor, the gyroscope, accelerometer, big dipper differential positioning system, inertia measuring unit, the mission equipment interface, wireless transmission module, PWM signal isolation module, flight control computer, power module and ground satellite station, flight control computer counts with the barometric height respectively, ground magnetic sensor, the gyroscope, accelerometer, big dipper differential positioning system, inertia measuring unit and PWM signal isolation module are connected, flight control computer is connected with the ground satellite station through wireless transmission module, power module provides the electric power support for entire system, mission equipment interface connection is in mission equipment. The utility model provides a pair of low latitude environmental monitoring unmanned aerial vehicle system, it adopts modularization design, utilizes big dipper bimodulus differential positioning technique, makes the unmanned aerial vehicle can be at some height at tens centimetres of real -time fast monitors to the extreme low -altitude special environment of several meters within ranges in.
Description
Technical field
The utility model belongs to unmanned air vehicle technique field, and the fast monitored being specifically related to the particular surroundings such as extreme low-altitude of a kind of height within the scope of tens centimetres to several meters is without man-machine system.
Background technology
Not needing the aircraft of driver to be called as unmanned flight's device (UnmannedAerialVehicle, UAV), be also called without man-machine, it possesses VTOL and the feature of aerial hovering, is adapted in narrow and small spatial dimension and executes the task; The device such as node and small-sized destructive weapon that can also aviation pick up camera, mapping instrument be communicated with relaying carries without on man-machine, under manual remote control or autonomous flight state, flying along specific course line, complete corresponding task. In recent years, the environmental monitoring that the time to be sought quickness, required distance is low is also lacked effective means.
Not only physical construction is simple for miniature or miniature self-service machine, and flight maneuver ability is more flexible. In addition, small-sized six rotor wing unmanned aerial vehicles possess manipulation property more flexibly, can take off, spiral, fly and land among a small circle, owing to its compact, maneuvering ability then closely can press close to target area flexibly. And due to its special main body mechanism, press close to ground effect time flight in ground not obvious, therefore it is very suitable for the special occasions such as the hedgehopping of height within the scope of tens centimetres to several meters that fly.
Along with the development of science and technology, without man-machine Application Areas gradually from military be transitioned into civilian, police. No matter in civilian fields such as meteorology exploration, Investigating, environment protection, or for the police field chased runaway convict, disintegrate terrorist activity etc., there is very big demand space. But existing most miniature self-service machine technology still high precision can not complete the dynamic monitoring under the particular surroundingss such as lower run, part mountain area and periodic monitoring, environmental compatibility cannot meet actual needs, and low-altitude remote sensing dynamic monitoring and emergency monitoring are mainly used among a small circle repeatedly dynamic monitoring etc. repeatedly.
Practical novel content
In order to solve the deficiencies in the prior art, the utility model provides a kind of low latitude environmental monitoring without man-machine system, it adopts modular design thinking, utilize Big Dipper bimodulus differential position, unmanned function is monitored real-time at tens centimetres at some height in the extreme low-altitude particular surroundings within the scope of several meters.
For solving the problem, the utility model specifically by the following technical solutions:
A kind of low latitude environmental monitoring is without man-machine system, it is characterized in that, comprise barometric altimeter, geomagnetic sensor, gyrostat, jerkmeter, Big Dipper differential position system, Inertial Measurement Unit, task device interface, transmission over radio module, pwm signal isolation module, flight controlling computer, power supply module and terrestrial station, described flight controlling computer respectively with barometric altimeter, geomagnetic sensor, gyrostat, jerkmeter, Big Dipper differential position system, Inertial Measurement Unit and pwm signal isolation module are connected, described flight controlling computer is connected with terrestrial station by transmission over radio module, described power supply module is the offer electric power support of whole system, described task device interface is connected to task device. flight controlling computer is responsible for gathering the information of each machine set sensor, the receiving apparatus load control command sent here by row channel on ground control station of radio measurement and control system transfers and data, carry out data processing, thus realizes the functions such as the management of the control law of various model of flight and task, control signal output, status information transmission. flight control computer requires to have real-time, reliability and the feature such as embedded. real-time requires the navigation data of input with the fastest velocity process and exports control signal with the shortest time delay. reliability requirement immunity from interference is strong, has wider operating temperature range and electromagnetism interference etc. imbedibility requires as far as possible little, light volume weight.
Aforesaid a kind of low latitude environmental monitoring is without man-machine system, it is characterised in that, described pressure altitude counts the digital baroceptor realizing locating without man-machine navigation.
Aforesaid a kind of low latitude environmental monitoring is without man-machine system, it is characterised in that, described geomagnetic sensor is measure the high precision three digital geomagnetic sensor of axle without man-machine course, and it is responsible for measuring aircraft course.
Aforesaid a kind of low latitude environmental monitoring is without man-machine system, it is characterised in that, described gyrostat is measure the yaw rate sensor without angle variable quantity in the man-machine unit time.
Aforesaid a kind of low latitude environmental monitoring is without man-machine system, it is characterised in that, described jerkmeter is the 3-axis acceleration sensor measuring territory, no-manned plane three-dimensional space all directions acceleration, and it is responsible for measuring the acceleration of territory, aircraft three-dimensional space all directions.
Aforesaid a kind of low latitude environmental monitoring is without man-machine system, it is characterised in that, described task device comprises the equipment of taking photo by plane, gas detecting instrument, meteorological parameter detecting instrument.
Aforesaid a kind of low latitude environmental monitoring is without man-machine system, it is characterised in that, described pwm signal isolation module is configured with 6 DC brushless motors, by adjustment voltage size thus control motor rotating speed, to control unmanned plane during flying speed.
Aforesaid a kind of low latitude environmental monitoring is without man-machine system, it is characterized in that, described Big Dipper differential position system comprises GPS, gps antenna and Beidou II, and described GPS is connected with flight controlling computer, and described Beidou II is connected with GPS by gps antenna.
Aforesaid a kind of low latitude environmental monitoring is without man-machine system, it is characterised in that, described without man-machine be small-sized many rotary wind types unmanned flight's device.
The beneficial effects of the utility model: a kind of low latitude environmental monitoring that the utility model provides is without man-machine system, and physical construction is simple, and flight maneuver ability is more flexible. And amass small and exquisite without human organism, it is possible to closely press close to target area, make up the problem of the susceptibility deficiency such as robot monitoring car under the extreme low-altitude environment such as the tunnel of complexity, mountain forest; In addition, the Big Dipper/GPS dual-mode system not only precision height, and the Big Dipper also has short message communication function in particular circumstances, can make up tens centimetres low latitude, under the complicated environment such as part mountain area by external interference or the problems such as thorough interruption that communicate, have a good application prospect.
Accompanying drawing explanation
Fig. 1 is the structure block diagram of low latitude of the present utility model environmental monitoring without man-machine system;
Fig. 2 is weather gauge data process diagram of the present utility model;
Fig. 3 is barometric altimeter schematic diagram of the present utility model;
Fig. 4 is geomagnetic sensor schematic diagram of the present utility model;
Fig. 5 is jerkmeter schematic diagram of the present utility model;
Fig. 6 is gyrostat schematic diagram of the present utility model.
Reference numeral implication is as follows:
1: barometric altimeter; 2: geomagnetic sensor; 3: gyrostat; 4: jerkmeter; 5: Big Dipper differential position system; 6: Inertial Measurement Unit; 7: task device interface; 8: transmission over radio module; 9:PWM signal isolation module; 10: flight controlling computer; 11: power supply module; 12: terrestrial station.
Embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is further described.
As shown in Figure 1, a kind of low latitude environmental monitoring, without man-machine system, comprises and is respectively without man-machine real-time offer height, attitude angle, circular frequency, the barometric altimeter 1 of acceleration information information, geomagnetic sensor 2, gyrostat 3, jerkmeter 4, for the Big Dipper differential position system 5 without man-machine real-time offer three-dimensional position and time data, there is provided the Inertial Measurement Unit 6(IMU of attitude data and positioning data in real time), the task device interface 7 being connected with task device, ensure the transmission over radio module 8 without good communication between man-machine and terrestrial station, the pwm signal isolation module 9 without man-machine each flight action is controlled by adjustment motor rotating speed, control to complete navigation without man-machine, the flight controlling computer 10 of plan target, for whole system provide electric power support power supply module 11 and with the terrestrial station 12 without relevant informations such as man-machine real-time exchange attitude and positions, described flight controlling computer 10 respectively with barometric altimeter 1, geomagnetic sensor 2, gyrostat 3, jerkmeter 4, Big Dipper differential position system 5, Inertial Measurement Unit 6 and pwm signal isolation module 9 are connected, and described flight controlling computer 10 is connected with terrestrial station 12 by transmission over radio module 8. wherein, described barometric altimeter 1 is the digital baroceptor realizing locating without man-machine navigation, described geomagnetic sensor 2 is measure the high precision three digital geomagnetic sensor of axle without man-machine course, described gyrostat 3 is measure the yaw rate sensor without angle variable quantity in the man-machine unit time, described jerkmeter 4 is the 3-axis acceleration sensor measuring territory, no-manned plane three-dimensional space all directions acceleration, it is combined with above-mentioned geomagnetic sensor 2, can accurate compass heading information. the task device that described task device interface can carry includes multiple equipment such as the equipment of taking photo by plane, gas detecting instrument, meteorological parameter detecting instrument, gather multiple desired parameters information, described transmission over radio module is the important component part of aerocraft system, namely it is divided into, by wireless transmission means, the letter that works without between man-machine and terrestrial station, exchanges information such as flight attitude and position etc. in addition, described terrestrial station includes supervisory control computer, telepilot. described pwm signal isolation module 9 is pwm signal isolation drive motor, is configured with 6 DC brushless motors. further, described Big Dipper differential position system 5 comprises GPS, gps antenna and Beidou II, described GPS is connected with flight controlling computer 10, described Beidou II is connected with GPS by gps antenna, makes full use of the location function of GPS and the short message communication function of the Big Dipper. described flight controlling computer is the center-control unit of flight, is responsible for without the co-ordination between man-machine each component unit and and communicates between ground control station. this low latitude environmental monitoring without in man-machine system use without man-machine be small-sized many rotary wind types unmanned flight's device.
Further, the digital quantity exported as characterizing air pressure size of barometric altimeter, weather gauge is sampled with since the acceleration signal of plate by main treater with the frequency of 50HZ. Fig. 2 is the data processing figure of weather gauge. The drift phenomenon intrinsic due to sensor and the existence of high frequency noise, the data value only obtained by weather gauge or acceleration transducer is bigger apart from real data value error, this just needs to carry out treating processes as shown in Figure 2, by the data after both samplings by data fusion technical finesse to obtain the high degrees of data value of high precision. As shown in Figure 3, barometric altimeter adopts the digital baroceptor of MS5803-01BA of Switzerland, directly export digital quantity signal, can being directly connected with microprocessor by its SPI interface, it has voltage low (1.8V-3.6V), good stability, (working current 1 �� A low in energy consumption; Standby current < 0.15 �� A), the feature such as volume is little, precision height, range is 10-1300mbar, can work in the temperature of-40 DEG C-85 DEG C, is very suitable for Field Barometric Pressure and the measurement of height, and resolving power can reach �� 0.1m. MS5803-01BA has I simultaneously2C and SPI interface, inner A/D converter is delta sigma type, and work output is 24 pressure and temperature numerary signals, and the fastest switching time is 1ms. Computer or microprocessor can pass through I2C or SPI interface gather and process air pressure and temperature data.
As shown in Figure 4, geomagnetic sensor adopts the 3 digital magnetometer MAG3110 of axle of Freescale company, and its Data Update frequency can reach 80Hz, and data output rate can adjust between 12ms to several seconds, is built-in with the I of standard2C interface, its communication speed can reach 400kHz the soonest, it is possible to measures the terrestrial magnetic field that magneticstrength is up to 10 Gausses. SCL1 in figure connects the corresponding I of microprocessor in master control board2The clocksignal line of C interface, SDA1 connects the data signal line of corresponding interface. MAG3110 is combined with 3 axle acceleration sensors, it is possible to accurately compass heading information.
In addition, flight controlling computer 10 adopt STM32L as Controlling System microprocessor. This treater adopts ARMCortex-M432 position kernel, the running frequency of 32kHz. In the normal operating mode, the power consumption/performance of the current draw of flash memory minimum 230A/MHz, STM32L, than minimum, is 185A/DMIPS. STM32L realizes high-performance with low voltage, the charging room effectively extending battery supply set every. The minimum working power voltage of digital function is 1.65V, when cell voltage reduces, it is possible to extend the working hour of battery supply set. Above barometric altimeter, geomagnetic sensor are mounted in master control board, and gyrostat and jerkmeter are mounted in from, switchboard, power supply required in master control board supplies by from switchboard.
As shown in Figure 5, jerkmeter adopts three axle ADXL335 sensors, and the sensitivity of this jerkmeter is by the impact of service voltage. When service voltage is 3.6V, output sensitivity is 350mv/g; When service voltage is 2V, output sensitivity is 190mv/g, is that the service voltage of ADXL335 modular design is 3V in this example. XACC, YACC, ZACC connect three passages corresponding to the built-in ADC of microprocessor respectively. C15, C16, C17 are filter capacitors, and size is 0.47uf, and arranging bandwidth is 10Hz. U5 is the voltage-releasing voltage stabilizer MCP1700 of low quiescent current voltage, and its output voltage is 3V, for jerkmeter provides operating voltage. ADXL335 can control the bandwidth of its output pin Xout, Yout, Zout, just can form low-pass filter by introducing electric capacity respectively on the pin of Xout, Yout, Zout, reduces high frequency noise.
As shown in Figure 6, gyrostat adopts the ADXRS610 of AnalogDevices company BGA-32 ceramic package encapsulation, selects the ADXRS610 of three single shafts, for measuring the circular frequency rotated respectively around x-axis, y-axis, z-axis. C7 is power supply decoupling capacitance, and C4 is power supply decoupling capacitance, and C1, C5 are charging capacitors, and C6 is HV filter capacitor. AVCC connects power supply module and is just simulating voltage end, and GND is for hold in analog; VDD is electric charge power input, and PGND is electric charge power supply ground terminal; With 0 ohmic resistance isolation between AVCC and VDD, between PGND and AGND, in P1, rateout interface is a voltage output signal, characterizes the size of gyrostat circular frequency, and this port is connected to the input passage of the built-in ADC of microprocessor. On external capacitive C2 and sheet, resistance Rout is bonded low-pass filter, can reduce the interference of high frequency noise.
For aircraft cognition and improving constantly that adaptive ability requires under complicated environment, multi-sensor cooperation work becomes the effective way addressed this problem. the utility model provide a kind of in cave, the extreme low-altitude environmental monitoring of tunnel, the particular surroundings such as mountain area is without man-machine system, it may be achieved the Navigation Control of height multiple complexity terrain environment within the scope of tens centimetres to several meters and without man-machine state fast monitored. consider and in actual complex environment is advanced, easily it is subject to the interference from outside atmosphere signal without man-machine, this uses pid control algorithm without man-machine system, pid control algorithm based on disturbance observation devises rotary wind type without man-machine control law, the three digital baroceptors of axle of complete control height are not only merged, also adopt the three digital earth magnetism meter of axle and 3-axis acceleration meters, gyrostat, unmanned plane during flying attitude is controlled in real time, center-control unit carries out data gathering, computing and transfer, its treater is according to existing sensing data and combines relevant control algorithm and calculates and export the rotating speed that 6 road pwm signals control motors, and then regulation and control is without man-machine attitude and position, it is divided into, by wireless transmission means, the letter that works without between man-machine and supervisory control computer, the relevant informations such as real-time exchange attitude and position, without man-machine, by receiving the environmental monitoring task completing to specify from the flight controlling instruction of ground monitoring system. principal controller has been responsible for the work such as the resolving of the acquisition and processing of sensor signal, gesture stability and Navigation Control algorithm, gyroplane rotate speed control, data communication as Signal Processing Element, sensor assembly is made up of three axle gyrostats, 3-axis acceleration meter, three axle geomagnetic sensors, barometric altimeter, GPS etc., and power supply module in charge is to the power supply of all devices on machine, remote-control radio link, containing telepilot and receiving apparatus thereof, can realize the Non-follow control to four rotor wing unmanned aerial vehicles by remote-control radio link, communication is wireless, and link tie surface control station completes the monitor in real time of flight state.
More than show and describe ultimate principle of the present utility model, main feature and advantage. The technician of the industry should understand; the utility model is not restricted to the described embodiments; what describe in above-described embodiment and specification sheets just illustrates principle of the present utility model; under the prerequisite not departing from the utility model spirit and scope; the utility model also has various changes and modifications, and these changes and improvements all fall within the scope of claimed the utility model. The claimed scope of the utility model is defined by appending claims and equivalent thereof.
Claims (9)
1. a low latitude environmental monitoring is without man-machine system, it is characterized in that, comprise barometric altimeter, geomagnetic sensor, gyrostat, jerkmeter, Big Dipper differential position system, Inertial Measurement Unit, task device interface, transmission over radio module, pwm signal isolation module, flight controlling computer, power supply module and terrestrial station, described flight controlling computer respectively with barometric altimeter, geomagnetic sensor, gyrostat, jerkmeter, Big Dipper differential position system, Inertial Measurement Unit and pwm signal isolation module are connected, described flight controlling computer is connected with terrestrial station by transmission over radio module, described power supply module is the offer electric power support of whole system, described task device interface is connected to task device.
2. a kind of low latitude environmental monitoring according to claim 1 is without man-machine system, it is characterised in that, described pressure altitude counts the digital baroceptor realizing locating without man-machine navigation.
3. a kind of low latitude environmental monitoring according to claim 1 is without man-machine system, it is characterised in that, described geomagnetic sensor is measure the high precision three digital geomagnetic sensor of axle without man-machine course.
4. a kind of low latitude environmental monitoring according to claim 1 is without man-machine system, it is characterised in that, described gyrostat is measure the yaw rate sensor without angle variable quantity in the man-machine unit time.
5. a kind of low latitude environmental monitoring according to claim 1 is without man-machine system, it is characterised in that, described jerkmeter is the 3-axis acceleration sensor measuring territory, no-manned plane three-dimensional space all directions acceleration.
6. a kind of low latitude environmental monitoring according to claim 1 is without man-machine system, it is characterised in that, described task device comprises the equipment of taking photo by plane, gas detecting instrument, meteorological parameter detecting instrument.
7. a kind of low latitude environmental monitoring according to claim 1 is without man-machine system, it is characterised in that, described pwm signal isolation module is configured with 6 DC brushless motors.
8. a kind of low latitude environmental monitoring according to claim 1 is without man-machine system, it is characterized in that, described Big Dipper differential position system comprises GPS, gps antenna and Beidou II, described GPS is connected with flight controlling computer, and described Beidou II is connected with GPS by gps antenna.
9. a kind of low latitude environmental monitoring according to claim 1 is without man-machine system, it is characterised in that, described without man-machine be small-sized many rotary wind types unmanned flight's device.
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| CN201521131268.5U CN205281183U (en) | 2015-12-30 | 2015-12-30 | Low latitude environmental monitoring unmanned aerial vehicle system |
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| CN106251921A (en) * | 2016-10-20 | 2016-12-21 | 上海核工程研究设计院 | A kind of npp safety shell structure outward appearance monitoring system |
| CN106292683A (en) * | 2016-11-10 | 2017-01-04 | 广东容祺智能科技有限公司 | A kind of unmanned plane wind resistance stability augmentation system and autocontrol method thereof |
| CN106338739A (en) * | 2016-08-31 | 2017-01-18 | 江苏艾倍科科技股份有限公司 | Beidou aircraft |
| CN106896145A (en) * | 2017-04-06 | 2017-06-27 | 邹霞 | Toxic and harmful unmanned plane detecting system and detection method |
| CN106970407A (en) * | 2017-06-01 | 2017-07-21 | 深圳市瑞芬科技有限公司 | A kind of guider and its fixation kit |
| CN106970642A (en) * | 2017-04-20 | 2017-07-21 | 佛山科学技术学院 | A kind of multi-rotor unmanned aerial vehicle state monitoring apparatus |
| CN107065911A (en) * | 2017-04-28 | 2017-08-18 | 湖北理工学院 | Quadrotor and its control method |
| CN107272713A (en) * | 2016-10-20 | 2017-10-20 | 天津科技大学 | A kind of underwater robot does not know flow fields environment adaptive control system |
| CN107861436A (en) * | 2017-12-01 | 2018-03-30 | 上海市环境科学研究院 | A kind of multi-rotor unmanned aerial vehicle high altitude environment detecting system |
| CN108496121A (en) * | 2017-08-25 | 2018-09-04 | 深圳市大疆创新科技有限公司 | Unmanned plane simulated flight system, method, equipment and machine readable storage medium |
| WO2018161331A1 (en) * | 2017-03-09 | 2018-09-13 | 邹霞 | Unmanned aerial vehicle monitoring system and monitoring method |
| CN109229380A (en) * | 2018-09-30 | 2019-01-18 | 镇江华智睿安物联科技有限公司 | A kind of environmental monitoring UAV system |
| CN109901580A (en) * | 2019-03-13 | 2019-06-18 | 华南理工大学 | A kind of unmanned plane cooperates with unmanned ground robot follows diameter obstacle avoidance system and its method |
| CN112577484A (en) * | 2019-09-29 | 2021-03-30 | 北京信息科技大学 | Telemetering device applied to small meteorological detection equipment |
| CN113391648A (en) * | 2021-07-21 | 2021-09-14 | 中国电子科技集团公司信息科学研究院 | Multi-sensor integrated environment monitoring control system based on micro unmanned aerial vehicle |
| CN114237110A (en) * | 2021-12-13 | 2022-03-25 | 中国民用航空飞行学院 | Multi-mode data driving-based general aviation fleet reliability monitoring and early warning system |
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| CN107272713A (en) * | 2016-10-20 | 2017-10-20 | 天津科技大学 | A kind of underwater robot does not know flow fields environment adaptive control system |
| CN106251921A (en) * | 2016-10-20 | 2016-12-21 | 上海核工程研究设计院 | A kind of npp safety shell structure outward appearance monitoring system |
| CN106292683A (en) * | 2016-11-10 | 2017-01-04 | 广东容祺智能科技有限公司 | A kind of unmanned plane wind resistance stability augmentation system and autocontrol method thereof |
| WO2018161331A1 (en) * | 2017-03-09 | 2018-09-13 | 邹霞 | Unmanned aerial vehicle monitoring system and monitoring method |
| CN106896145A (en) * | 2017-04-06 | 2017-06-27 | 邹霞 | Toxic and harmful unmanned plane detecting system and detection method |
| CN106970642A (en) * | 2017-04-20 | 2017-07-21 | 佛山科学技术学院 | A kind of multi-rotor unmanned aerial vehicle state monitoring apparatus |
| CN107065911A (en) * | 2017-04-28 | 2017-08-18 | 湖北理工学院 | Quadrotor and its control method |
| CN106970407A (en) * | 2017-06-01 | 2017-07-21 | 深圳市瑞芬科技有限公司 | A kind of guider and its fixation kit |
| WO2019037103A1 (en) * | 2017-08-25 | 2019-02-28 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle flight simulation system, method and device, and machine readable storage medium |
| CN108496121A (en) * | 2017-08-25 | 2018-09-04 | 深圳市大疆创新科技有限公司 | Unmanned plane simulated flight system, method, equipment and machine readable storage medium |
| CN107861436A (en) * | 2017-12-01 | 2018-03-30 | 上海市环境科学研究院 | A kind of multi-rotor unmanned aerial vehicle high altitude environment detecting system |
| CN109229380A (en) * | 2018-09-30 | 2019-01-18 | 镇江华智睿安物联科技有限公司 | A kind of environmental monitoring UAV system |
| CN109901580A (en) * | 2019-03-13 | 2019-06-18 | 华南理工大学 | A kind of unmanned plane cooperates with unmanned ground robot follows diameter obstacle avoidance system and its method |
| CN112577484A (en) * | 2019-09-29 | 2021-03-30 | 北京信息科技大学 | Telemetering device applied to small meteorological detection equipment |
| CN113391648A (en) * | 2021-07-21 | 2021-09-14 | 中国电子科技集团公司信息科学研究院 | Multi-sensor integrated environment monitoring control system based on micro unmanned aerial vehicle |
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