CN205665905U - Civilian unmanned aerial vehicle management and control system based on mobile communication network - Google Patents
Civilian unmanned aerial vehicle management and control system based on mobile communication network Download PDFInfo
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- CN205665905U CN205665905U CN201620521093.7U CN201620521093U CN205665905U CN 205665905 U CN205665905 U CN 205665905U CN 201620521093 U CN201620521093 U CN 201620521093U CN 205665905 U CN205665905 U CN 205665905U
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Abstract
The utility model relates to an unmanned air vehicle technique field, concretely relates to civilian unmanned aerial vehicle management and control system based on mobile communication network. This system mainly includes user side and the management and control server of connecting through mobile communication network, and the user side includes more than one mobile terminal. Pilot or task user are through mobile terminal and use mobile communication network to send the aircraft mission application to the management and control server, and mobile terminal just can carry out aircraft mission after receiving that aircraft mission examines the approval information of server, otherwise can only or take a flight test in the limited range in the ground test debugging. And management and control server also accessible mobile communication network carries out state of flight broadcast monitoring and task execution supervision to unmanned aerial vehicle. Consequently, this system is one kind and declares state of flight broadcast monitoring from aircraft mission, carry out the supervision up to the complete management and control system that finishes the work to the task again, has effectually solved on current phase the incomplete problem of management and control measure that civilian unmanned aerial vehicle carried out.
Description
Technical field
This utility model relates to unmanned air vehicle technique field, in particular to a kind of based on mobile communications network civilian
Unmanned plane managing and control system.
Background technology
Along with the fast development of technology, unmanned air vehicle technique is the most ripe.The application of unmanned plane is also led from Military Application
Territory is gradually permeated to civil area.Increasing unmanned plane is used for performing aerophotography, the earth mapping, power-line patrolling, electric power
The people's livelihood field such as the monitoring of stringing, petroleum pipeline, the long potential analysis of vegetation, pesticide spraying.Blowout development the most too
There is problem.As vehicle and manned aircraft, civilian unmanned plane is as a kind of general vehicle, when it performs task
Equally its peripheral facility and personnel being had potential menace, this has except flight stability own with aircraft is very different
Outside the Pass, also to fly hands and lack relevant flight safety knowledge and flying experience, it is often more important that, aircraft itself also lacks can be to
The equipment of blank pipe department real-time report self-position, the army's of causing Civil Aviation ATM Sector can not monitor its flight progress.And sending out
Opening up rapid unmanned plane field, the management and control measure temporarily carried out civilian unmanned plane the most still can not be with ripe vehicle or manned fly
The management and control measure of machine is the most ripe.But without complete management and control measure, appoint the unordered flight of civilian unmanned plane, certainly will be to public affairs
Grave danger of many safety.How according to existing technical resource, the civilian unmanned plane of management and control comprehensively and effectively, become one urgently
Society need.
Summary of the invention
The purpose of this utility model is to provide a kind of civilian unmanned plane managing and control system based on mobile communications network, to solve
The incomplete problem of management and control measure that certainly present stage civilian unmanned plane is carried out.
This utility model provides a kind of civilian unmanned plane managing and control system based on mobile communications network, comprising: pass through
The user side of mobile communications network connection and management and control server；
Described user side include more than one mobile terminal, described mobile terminal arrange aerial mission application editor module and
Sending module；
Described management and control server includes: be sequentially connected with puts data base, aerial mission examination & approval server, air traffic pipe on record
Control server and civil aviaton airway traffic control ATC data base, and air traffic control service device and put on record data base connect.
In certain embodiments, being preferably, described mobile communications network includes: mobile communication network operator server,
And base station or wireless router, mobile communication network operator server is connected with base station or wireless router；Described base station
Or wireless router is connected with described mobile terminal by cordless communication network；Described aerial mission examination & approval server and aerial friendship
Siphunculus control server is connected with described carrier server by cordless communication network.Described aerial mission examination & approval server and sky
Middle traffic control service device is connected with authorities terminals respectively.
Above-mentioned unmanned plane managing and control system also includes that unmanned aerial vehicle onboard management and control device, described unmanned aerial vehicle onboard management and control device include arranging
State of flight Auto broadcast monitor on unmanned plane, described state of flight Auto broadcast monitor passes through cordless communication network
It is connected with described mobile terminal, air traffic control service device and civil aviaton airway traffic control ATC data base respectively；
Described state of flight Auto broadcast monitor includes GPS or Beidou satellite receiver, the microcontroller being sequentially connected with
With mobile communication transceiver device, described GPS or Beidou satellite receiver, microcontroller and mobile communication transceiver device respectively with power supply pipe
Reason module and reserve battery connect；
Described microcontroller connects memorizer, and described mobile communication transceiver device passes through described mobile communications network with described
Air traffic control service device connects.
Described state of flight Auto broadcast monitor also include the pressure altimeter that is connected with described microcontroller respectively and
Micro-electromechanical system (MEMS) inertial navigation equipment.
Described unmanned aerial vehicle onboard management and control device includes the steering wheel management and control device being arranged on unmanned plane, the pipe of described steering wheel management and control device
Control Micro-processor MCV is connected with microcontroller by external communication interface；Described steering wheel management and control device also includes that field-programmable is patrolled
Collecting gate array FPGA, described field programmable gate array FPGA is connected with described management and control Micro-processor MCV, and connection has rudder
Machine signal input interface and steering wheel signal output interface.
Based on mobile communications network the civilian unmanned plane managing and control system that this utility model embodiment provides, with prior art
Comparing, including the user side connected by mobile communications network and management and control server, and user side includes that more than one moves
Terminal, pilot or task user are by mobile terminal and use mobile communications network to send flight times to described management and control server
Business application.Mobile terminal, after the aerial mission receiving management and control server examines the approval in-formation of server, just can fly
Task, otherwise in ground run debugging or can only take a flight test in limited range.And, the air traffic control clothes of management and control server
Business device and civil aviaton airway traffic control ATC data base can carry out flight operation monitoring to unmanned plane in real time, if finding behaviour in violation of rules and regulations
Make then mobile terminal to be sent a warning, compel it and correct.This unmanned plane managing and control system automaticity is high, the fortune of whole system
Work can be automatically performed, and control ownership is clear, and the flight operation of unmanned plane all can be by the management and control server of authorities
Determine or monitoring, and authorities can get involved its management and control right of enforcement, at any time to protect social safety.Thus, this is unmanned
Machine managing and control system effectively solves the incomplete problem of management and control measure that present stage civilian unmanned plane is carried out.
Accompanying drawing explanation
Fig. 1 is civilian unmanned plane managing and control system structure chart based on mobile communications network in one embodiment of this utility model
Schematic diagram；
Fig. 2 is unmanned aerial vehicle onboard management and control device structural representation in one embodiment of this utility model；
Fig. 3 is civilian unmanned plane managing and control system based on mobile communications network operation step in one embodiment of this utility model
Rapid schematic diagram.
Detailed description of the invention
For making the purpose of this utility model embodiment, technical scheme and advantage clearer, new below in conjunction with this practicality
Accompanying drawing in type embodiment, is clearly and completely described the technical scheme in this utility model embodiment, it is clear that retouched
The embodiment stated is a part of embodiment of the present utility model rather than whole embodiments.Based on the reality in this utility model
Execute example, the every other embodiment that those of ordinary skill in the art are obtained on the premise of not making creative work, all
Belong to the scope of this utility model protection.
The incomplete problem of management and control measure carried out for the civilian unmanned plane of present stage, the utility model proposes one
Civilian unmanned plane managing and control system based on mobile communications network.As it is shown in figure 1, civilian unmanned plane pipe based on mobile communications network
Ore-controlling Role specifically includes: the user side 10 connected by mobile communications network 20 and management and control server 31, mobile communications network 20
For mobile communication network operator, it includes mobile communication network operator server 140, and base station or wireless router
130.Mobile communication network operator server 140 is connected with base station or wireless router 130；Base station or wireless router 130
It is connected with mobile terminal by cordless communication network.User side 10 includes more than one mobile terminal, pilot or task user
Aerial mission application is sent to management and control server 31 by mobile terminal；Management and control server 31 includes: be sequentially connected with puts number on record
According to storehouse 151, aerial mission examination & approval server 150, air traffic control service device 152 and civil aviaton's airway traffic control ATC data
Storehouse 153, and air traffic control service device 152 and put data base 151 on record and connect.Aerial mission examination & approval server 150 is with aerial
Traffic control service device 152 is connected with mobile communication network operator server 140 by cordless communication network.
Task user 120 in user side 10 and pilot 110 are promoter and the operators of aerial mission.For answering
Performing navigation task with civilian unmanned plane, its ground control hands (" flying hands ") controls civilian unmanned plane 800 by remote signal, with
Pilot 110 has identical status.Submitting aerial mission to is to be passed through mobile terminal by task user 120 and/or pilot 110
111, mobile terminal 121 via mobile communications network 20 submit to aerial mission examination & approval server 150 be accomplished.Aerial mission
The function of examination & approval server 150 is the aerial mission that examination & verification is submitted to by user side 10, and judges whether to ratify.Above
Examination & verification and judgement are completed by aerial mission examination & approval server 150, and approval results backs up in putting data base 151 on record.Specifically
Unmanned plane during flying task declaration method with reference to patent " all purpose aircraft aerial mission report and rigister based on mobile communications network
System and method " or other relevant regulations content required for protection.If aerial mission examination & approval server 150 approved flight task
Application, then pilot or task user perform aerial mission, and management and control server 31 monitor in real time aerial mission whether according to
Aerial mission application is carried out.If aerial mission does not examine server 150 approved flight task application, then pilot or task user
In ground run debugging or taking a flight test in limited range, management and control server 31 monitors aerial mission in real time whether beyond limited model
Enclose.The scope of taking a flight test that in scope that what this limited range was relevant regulations take a flight test or industry, everybody is admitted.
Air traffic control service device 152 and civil aviaton ATC data base 153 and put data base 151 on record and be connected, information is common
Enjoy.Air traffic control service device 152 is by computational analysis, and real-time rendering goes out spatial domain traffic situation figure.Spatial domain traffic situation figure
Demonstrate airborne vehicle and the people of all lift-launch all purpose aircraft state of flight Auto broadcast monitors 100 movable in this spatial domain
Flight status information movable in this spatial domain that boat ATC data base 153 provides.Pilot 110 can be according to spatial domain traffic situation
Map analysis judges, to evade hazard event generation.The public and relevant departments can obtain by the way of reception is broadcasted at that time when
The spatial domain traffic situation figure on ground, to meet information requirement.Concrete unmanned plane during flying state Auto broadcast monitors that method is with reference to specially
Profit " aircraft state Auto broadcast monitoring system based on mobile communications network " content required for protection.
Aerial mission examination & approval server 150, put data base 151 and air traffic control service device 152 on record and connect and have supervisor
Departmental terminals 40, authorities' terminal 40 is for supervisor's General Aviation Flight task examination & approval and the portion of government of the civilian unmanned plane of management and control
The control aerial mission that door, security department set up examines server 150 and the interface of air traffic control server 152.Automatically
The relevant regulations of examination & approval is passed through authorities' terminal 40 typing by authorities.Minority aerial mission examination & approval server 150 can not
The report and rigister project being automatically performed manually will be examined by authorities' terminal 40 by authorities, and examination & approval structure is by flight
Task examination & approval server 150 sends to mobile terminal, and stores examination & approval structure to putting data base 151 on record.If flight is thought
Application obtains authorities' terminal 40 and ratifies, then, in aerial mission is carried out, authorities' terminal 40 can pass through air traffic pipe
Control server 152 is monitored control to aerial mission.
Performing in task process at civilian unmanned plane 800, air traffic control server 152 finds its behavior and this Shen
The aerial mission of declaration standard is runed counter to, will be by mobile communications network 20 to task user 120, the mobile terminal of pilot 110
121,111 warning is sent respectively.If pilot 110 does not correct, 152 2 warning tasks of air traffic control server are used
Family 120, pilot 110 be dangerous object at this civilian unmanned plane 800 of spatial domain traffic situation figure labelling, mention the public to this nothing
The concern of man-machine composition potential danger, reminds authorities to note its trend.According to the answer of pilot 110, authorities can
To take corresponding measure.If pilot 110 replies statement, he loses the control to civilian unmanned plane 800, it is impossible to controlling should
Unmanned plane safe falling, or pilot 110 still reacts also no reply without repenting and mending one's ways under secondary alerts, then and authorities can
Civilian unmanned to this violation according to relevant laws and regulations to take over the control to civilian unmanned plane 800 by unmanned aerial vehicle onboard management and control device 65
Machine 800 takes to force the measure of forced landing, to guarantee public security.The method forcing forced landing includes: opens airborne parachute, go straight up to
The modes such as machine spin landing, fixed-wing flat spin landing.And, unmanned aerial vehicle onboard management and control device 65 has standby power supply device, institute
Having in the case of not having external power supply still can the location information of the civilian unmanned plane of continual broadcast 800.The manipulation people
With the pilot 110 of unmanned plane 800 and information search can be positioned and reclaim this unmanned plane.
As in figure 2 it is shown, unmanned aerial vehicle onboard management and control device 65 includes that the state of flight Auto broadcast being arranged on unmanned plane monitors
Device 100 and steering wheel management and control device 600.State of flight Auto broadcast monitor 100 is by cordless communication network and mobile terminal, aerial
Traffic control service device 152 and civil aviaton airway traffic control ATC data base 153 connect.State of flight Auto broadcast monitor 100
Including the GPS being sequentially connected with or Beidou satellite receiver 501, microcontroller 504 and mobile communication transceiver device 505.GPS or the Big Dipper
DVB 501, microcontroller 504 and mobile communication transceiver device 505 connect power management module and reserve battery 508,
Power management module or reserve battery 508 continue for all purpose aircraft state of flight Auto broadcast monitor 100 provides stable
Power supply supply, even if it is also ensured that long continuous firing in the case of there is no externally fed.Microcontroller 504 is even
Being connected to memorizer 506, mobile communication transceiver device 505 is connected with air traffic control service device 152 by mobile communications network 20.
In order to improve the certainty of measurement of the state of flight to civilian unmanned plane 800, and ensure to depend on when not receiving satellite navigation data
So can measure state of flight, state of flight Auto broadcast monitor 100 also includes the air pressure being connected respectively with microcontroller 504
Altimeter 502 and micro-electromechanical system (MEMS) inertial navigation equipment 503.State of flight Auto broadcast monitor 100 is defended by the GPS/ Big Dipper
Star receiver 501 receives the navigation data from GPS/ Beidou satellite navigation system and time service data, civilian unmanned for determining
The location in this moment of machine 800, highly, the information such as course and speed of a ship or plane.Further, under the control of microcontroller 504, the GPS/ Big Dipper is defended
Star receiver 501, pressure altimeter 502 and MEMS inertial navigation equipment 503 co-ordination, the widest for all purpose aircraft state of flight
Broadcast the high accuracy Flight Condition Data that civilian unmanned plane 800 is provided that monitor 100 is lasting.Memorizer 506 and microcontroller 504
It is connected, stores and represent the aerial mission approval secret key that this flight secures permission.By external communication interface 507, microcontroller
Device 504 can communicate with other airborne equipments.Mobile communication transceiver device 505 is connected with microcontroller 504, receives from shifting
The data that dynamic communication network 20 is sent, send the data from microcontroller 504 simultaneously.
The management and control Micro-processor MCV 601 of steering wheel management and control device 600 is by external communication interface 507 with microcontroller 504 even
Connect；Steering wheel management and control device 600 also includes field programmable gate array FPGA602, field programmable gate array FPGA602
It is connected with management and control Micro-processor MCV 601, and connection has steering wheel signal input interface 603 and steering wheel signal output interface 604.Pipe
Control Micro-processor MCV 601 is connected with external communication interface 507, to obtain the state of flight information of civilian unmanned plane 800.At pipe
The lower FPGA 602 of control of control MCU601 can be with the input and output of management and control multichannel steering wheel signal.Here steering wheel signal refers to by the people
The remote-control receiver carried with unmanned plane 800 or flight controller are sent to all types control signal of airborne actuator
General name, has generalization.FPGA 601 is connected with steering wheel signal input interface 603 and steering wheel signal output interface 604.Steering wheel is believed
Number remote-control receiver or flight controller that input interface 603 carries with civilian unmanned plane 800 are connected, and receive civilian unmanned plane
800 remote-control receivers carried or flight controller are sent to the control signal of steering wheel.Steering wheel signal output interface 604 is with civilian
The steering wheel carried on unmanned plane 800 is connected, and to control the action of steering wheel, thus directly controls civilian unmanned plane 800.Here
Steering wheel refers to the general name of all actuators for controlling the action of civilian unmanned plane 800, has generalization too.
It is also disclosed that civilian unmanned plane managing and control system based on mobile communications network for this utility model, operating procedure is such as
Shown in Fig. 3, Ke Yiwei:
S1: mobile terminal is connected by mobile communications network 20 with management and control server 31, and pilot or task user pass through
Mobile terminal sends aerial mission application to management and control server 31；
S2: management and control server 31 determines whether to examine the authority of aerial mission application, if not having authority, carries out S3, no
Then, S4 is carried out；
S3: authorities personnel judge whether approved flight task application by authorities' terminal 40, if approved flight
Task application, carries out S5, then transmission approval key is to mobile terminal, and will approval key storage putting on record to management and control server 31
Data base 151；Otherwise, S6 is carried out；
S4: management and control server 31 judges whether approved flight task application, if approved flight task application, carries out S5, then
Send approval key to mobile terminal, and put approval key storage on record data base 151 to management and control server 31；Otherwise, enter
Row S6；
S5: mobile terminal receives approval key, and pilot or task user perform aerial mission, and management and control server 31 is real-time
Whether monitoring aerial mission is carried out according to aerial mission application, if not carrying out according to aerial mission application, carries out S7, otherwise,
Carry out S8；
S6: pilot or task user in ground run debugging or take a flight test in limited range, and management and control server 31 is real-time
Whether monitoring aerial mission is beyond limited range, if without departing from limited range, then continues in ground run debugging or limited
In the range of take a flight test, otherwise, carry out S7；
S7: management and control server 31 sends primary warning by mobile communications network 20 to mobile terminal；Pilot or task
User according to primary warning corrigendum aerial mission, then carries out S8, or continues in ground run debugging or take a flight test in limited range；
Otherwise, management and control server 31 sends two grades of warnings by mobile communications network 20 to mobile terminal；
Pilot or task user according to secondary warning corrigendum aerial mission, then carry out S8, or continue to adjust in ground run
Try or take a flight test in limited range；Otherwise, management and control server 31 takes to force the measure of forced landing unmanned plane, investigates pilot or appoints
The responsibility of business user.
S8: pilot or task user continues executing with aerial mission until task completes, or abort task.
S9: if the data that send according to state of flight Auto broadcast monitor 100 of air traffic control service device 152 and
Carrying out the data of civil aviaton airway traffic control ATC data base 153, carry out computational analysis, real-time rendering goes out spatial domain traffic situation figure；
Traffic situation figure in spatial domain is sent to mobile terminal by S10: air traffic control service device 152.
Above-mentioned management and control server 31 takes the measure forcing forced landing unmanned plane to include:
Management and control server 31 sends landing instruction to management and control Micro-processor MCV；
Landing instruction is transferred on unmanned plane the steering wheel carried by steering wheel signal output interface 604, and steering wheel is unmanned for controlling
The general name of all actuators of motor-driven work；Steering wheel manipulation unmanned plane landing.The method forcing forced landing includes: open airborne landing
The modes such as umbrella, helicopter spin landing, fixed-wing flat spin landing.
These are only preferred embodiment of the present utility model, be not limited to this utility model, for this area
Technical staff for, this utility model can have various modifications and variations.It is all within spirit of the present utility model and principle,
Any modification, equivalent substitution and improvement etc. made, within should be included in protection domain of the present utility model.
Claims (5)
1. a civilian unmanned plane managing and control system based on mobile communications network, it is characterised in that including: pass through mobile radio communication
User side (10) that network (20) connects and management and control server (31)；
Described user side (10) include more than one mobile terminal, described mobile terminal arrange aerial mission application editor module and
Sending module；
Described management and control server (31) including: be sequentially connected with put on record data base (151), aerial mission examination & approval server (150),
Air traffic control service device (152) and civil aviaton's airway traffic control ATC data base (153), and air traffic control service device
(152) and put on record data base (151) connect.
2. civilian unmanned plane managing and control system based on mobile communications network as claimed in claim 1, it is characterised in that described shifting
Dynamic communication network (20) including: mobile communication network operator server (140), and base station or wireless router (130), moves
Dynamic communication network operator server (140) is connected with base station or wireless router (130)；Described base station or wireless router
(130) it is connected with described mobile terminal by cordless communication network；
Described aerial mission examination & approval server (150) and air traffic control service device (152) are by cordless communication network and institute
State carrier server (140) to connect；
And/or,
Described aerial mission is examined server (150), is put data base (151) and air traffic control service device (152) difference on record
It is connected with authorities' terminal (40).
3. civilian unmanned plane managing and control system based on mobile communications network as claimed in claim 1, it is characterised in that also include
Unmanned aerial vehicle onboard management and control device (65), described unmanned aerial vehicle onboard management and control device (65) includes that the state of flight being arranged on unmanned plane is automatic
Commentator's monitor (100), described state of flight Auto broadcast monitor (100) by cordless communication network respectively with described movement
Terminal, air traffic control service device (152) and civil aviaton's airway traffic control ATC data base (153) connect；
Described state of flight Auto broadcast monitor (100) includes the GPS that is sequentially connected with or Beidou satellite receiver (501), micro-
Controller (504) and mobile communication transceiver device (505)；Described GPS or Beidou satellite receiver (501), microcontroller (504) and
Mobile communication transceiver device (505) is connected with power management module and reserve battery (508) respectively；
Described microcontroller (504) connects memorizer (506), and described mobile communication transceiver device (505) is led to by described movement
Communication network (20) is connected with described air traffic control service device (152).
4. civilian unmanned plane managing and control system based on mobile communications network as claimed in claim 3, it is characterised in that described in fly
Row state Auto broadcast monitor (100) also include the pressure altimeter (502) that is connected with described microcontroller (504) respectively and
Micro-electromechanical system (MEMS) inertial navigation equipment (503).
5. civilian unmanned plane managing and control system based on mobile communications network as claimed in claim 3, it is characterised in that described nothing
Man-machine airborne management and control device (65) includes steering wheel management and control device (600) being arranged on unmanned plane, the pipe of described steering wheel management and control device (600)
Control Micro-processor MCV (601) is connected with microcontroller (504) by external communication interface (507)；Described steering wheel management and control device
(600) also include field programmable gate array FPGA (602), described field programmable gate array FPGA (602) with
Described management and control Micro-processor MCV (601) connects, and connection has steering wheel signal input interface (603) and steering wheel signal output interface
(604)。
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| CN201620521093.7U CN205665905U (en) | 2016-06-01 | 2016-06-01 | Civilian unmanned aerial vehicle management and control system based on mobile communication network |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108540198A (en) * | 2018-02-01 | 2018-09-14 | 北京航空航天大学 | The anti-tamper recording method of civil aviaton's flying quality based on block chain technology and device |
| CN110121844A (en) * | 2016-11-08 | 2019-08-13 | 奥兰治 | With the asynchronous and synchronous of mobile communications network |
| WO2020124379A1 (en) * | 2018-12-18 | 2020-06-25 | 北京小米移动软件有限公司 | Flight reporting method and apparatus |
| CN113467511A (en) * | 2021-07-15 | 2021-10-01 | 广西壮族自治区自然资源调查监测院 | Unmanned aerial vehicle task cooperation method and system |
-
2016
- 2016-06-01 CN CN201620521093.7U patent/CN205665905U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110121844A (en) * | 2016-11-08 | 2019-08-13 | 奥兰治 | With the asynchronous and synchronous of mobile communications network |
| CN110121844B (en) * | 2016-11-08 | 2022-12-06 | 奥兰治 | Asynchronous synchronization with a mobile communication network |
| US11582578B2 (en) | 2016-11-08 | 2023-02-14 | Orange | Asynchronous synchronization with a mobile communication network |
| CN108540198A (en) * | 2018-02-01 | 2018-09-14 | 北京航空航天大学 | The anti-tamper recording method of civil aviaton's flying quality based on block chain technology and device |
| WO2020124379A1 (en) * | 2018-12-18 | 2020-06-25 | 北京小米移动软件有限公司 | Flight reporting method and apparatus |
| CN113467511A (en) * | 2021-07-15 | 2021-10-01 | 广西壮族自治区自然资源调查监测院 | Unmanned aerial vehicle task cooperation method and system |
| CN113467511B (en) * | 2021-07-15 | 2022-12-27 | 广西壮族自治区自然资源调查监测院 | Unmanned aerial vehicle task cooperation method and system |
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