TWI819569B - A zero-time huge aerial photo shooting device based on drone swarm flight - Google Patents

Abstract

A zero-time huge aerial photo shooting device based on a group of drones. It will focus on the expected area captured by a drone set at a certain height. The area of the field to be photographed is set, and the ground station takes the lead. Calculate the number of drones required for the mission, calculate the mission location, and design the route and mission planning for each drone in the fleet. After all the drones fly to the designated mission positions, the shooting tasks and aerial images are uploaded simultaneously. The aerial images are then collected through the background image splicing system for orthographic projection and splicing post-processing to achieve a zero-time difference in huge aerial images. Picture shooting task. Thereby, the present invention can significantly save the cost of photographing aerial images, and can provide a zero-time huge aerial image with high accuracy and precision equivalent to that of satellite aerial images.

Description

A zero-time huge aerial photo shooting device based on drone swarm flight

The present invention relates to a zero-time difference huge aerial photo shooting device based on a group of UAVs. In particular, it relates to a device that can significantly save the cost of shooting aerial photos and can provide high accuracy equivalent to satellite aerial photos. High-precision zero-day huge aerial images.

Telemetry image information has been widely integrated into daily life and research in various fields. Due to its wide shooting range, high spatial resolution, fast response time, and being not restricted by terrain, it has been widely used in agricultural disaster survey, crop identification, and farmland. Traces of its application can also be seen through surveys and other operations. In terms of current technology, telemetry images can be divided into airborne and satellite-borne systems. Each application field selects a suitable shooting type according to the image usage target. For example, although the aerial photo data collection area is large and the image resolution is high, it is different from UAVs. (Unmanned Aerial Vehicle, UAV) is easily limited by weather factors and has low maneuverability.

As for the shooting area, the drone's camera system will shoot different ranges of images according to the height (focal length), aperture and lens characteristics. The higher you fly, the wider the range, but the less detailed information. Therefore, in order to obtain detailed information, the general aerial photography method will scan and shoot at the same height to reduce the difference caused by different heights. However, the disadvantage is that it is asynchronous, resulting in image data that is not immediate. The larger the range, the longer it takes to shoot. However, due to the different acquisition times of the aerial photos in each area of the aerial photo map, image ghosting appears in the map data. The ghosting is caused by the time difference in taking aerial photos. Therefore, such photos that produce ghosting after splicing It is not applicable in many application areas of aerial photos, such as transportation observation, vehicle detection and tracking, etc.

In view of the fact that in the past, the only way to obtain aerial photos was through satellite photos, which were expensive, later We use aircraft to carry out aerial photography through route planning to obtain aerial photos, and use orthographic projection and photo splicing technology to obtain aerial photos. However, due to the different acquisition times of aerial photos in each area of the aerial photos, resulting in the appearance of images in the map. Ghost images therefore cannot be used in various aerial image application fields such as transportation observation, vehicle detection and tracking, etc. For this reason, it is necessary to develop an invention that can solve the problem of image ghosting and the shortcomings of the previous technology. Therefore, ordinary users cannot meet the user's needs for shooting huge aerial photos with zero time difference in actual use.

The main purpose of the present invention is to overcome the above-mentioned problems encountered in the conventional art and provide a method that can greatly save the cost of shooting aerial images, and can provide a zero-day giant image with high accuracy and precision equivalent to that of satellite aerial images. The structure of the aerial photo is based on the zero-time difference huge aerial photo shooting device of drone swarm flight.

In order to achieve the above purpose, the present invention is a zero-time huge aerial photo shooting device based on a group flight of drones. It includes: several drones, each drone is positioned at a height above a shooting field. , the focal length of each drone is set to correspond to several expected areas defined by the shooting field, and each drone includes a first wireless communication module for receiving a flight command corresponding to the drone. The flight command includes a mission position and a route and mission plan; a positioning module to generate the real-time dynamic positioning (Real-Time Kinematic, RTK) signal of the UAV; a memory module to store the flight command; An image capture module is used to capture several images of the shooting area; a flight module is used to allow the drone to fly, take off and land; and a control module is connected to the first wireless communication module , the positioning module, the memory module, the image capture module, and the flight module are used to control the flight direction and/or speed of the flight module according to the route and mission planning, so that the UAV After flying to and positioning at the mission location, the image capture module is triggered to perform synchronous shooting of aerial images; a ground station has a second wireless communication module, a database module, and a connection to the second wireless Communication module and the The computing processing module of the database module. The ground station communicates wirelessly with the several drones to receive a setting parameter of the shooting area. The setting parameters include the height, focal length, and the shooting area of the shooting area. The expected area is calculated according to the set parameters. The number of drones required to perform the shooting task and the task position corresponding to each drone performing the shooting task are calculated, and then each drone is calculated based on the received RTK signal of each drone. Route and mission planning calculations for a UAV, and transmit the flight command including the mission location and the route and mission plan to the corresponding UAV, so that each UAV can fly according to its corresponding route and mission plan After arriving at the corresponding task location, the synchronized shooting task and aerial photo upload are performed according to the synchronized shooting trigger signal; and a background image splicing system wirelessly communicates with the drones through the first wireless communication modules, and The second wireless communication module wirelessly communicates with the ground station to receive and model the aerial images. Through orthographic projection and splicing post-processing, a zero-time difference spliced aerial image is finally obtained, and then the zero-time difference spliced aerial images are obtained. The time difference spliced aerial image is sent back to the ground station and stored in the database module.

1: Drone

11:The first wireless communication module

12: Positioning module

13:Memory module

14:Image capture module

15:Flight module

16:Control module

2: Ground station

21:Second wireless communication module

22:Database module

23:Computational processing module

3:Backstage image stitching system

Figure 1 is a schematic diagram of an embodiment of the zero-time difference huge aerial photo shooting device based on the drone group flight according to the present invention.

Figure 2 is a schematic diagram of the operation flow of the zero-time difference huge aerial photo shooting device based on the drone group flight according to the present invention.

Figure 3 is a schematic diagram of the UAV Mesh network system architecture of the present invention.

Figure 4 is a comparison chart of transmission time between the traditional architecture and the Mesh architecture of the present invention.

Figure 5 is a schematic diagram of the geometric relationship between ground resolution, flight altitude, focal length and the number of sensor elements according to the present invention.

Figure 6 is a schematic diagram of the overlapping degree of photos according to the present invention.

Figure 7 is a schematic diagram of the number of drones used in the intended shooting area of the present invention.

Figure 8 is a schematic diagram of the mission position of the drone of the present invention.

Please refer to "Figures 1 to 8", which are respectively schematic diagrams of an embodiment of the zero-time difference huge aerial photo shooting device based on the structure of the present invention and the structure of the present invention based on the group flying of UAVs. Schematic diagram of the operation flow of the zero-time difference huge aerial photo shooting device, schematic diagram of the UAV Mesh network system architecture of the present invention, comparison diagram of the transmission time of the traditional architecture and Mesh architecture of the present invention, ground resolution, flight height, and focal length of the present invention. A schematic diagram of the geometric relationship with the number of sensor elements, a schematic diagram of the photo overlap of the present invention, a schematic diagram of the number of drones used in the predetermined shooting area of the present invention, and a schematic diagram of the drone mission location of the present invention. As shown in the figure: the present invention is a zero-time huge aerial photo shooting device based on a group of drones. It consists of several drones 1, a ground station 2, and a background image splicing system 3.

Among the several drones 1 mentioned above, each drone 1 is positioned at a height above a shooting field, and the focal length of each drone 1 is set to correspond to several expected targets defined in the shooting field. area, each UAV 1 includes a first wireless communication module 11 for receiving a flight command corresponding to the UAV 1. The flight command includes a mission location and a route and mission plan; a positioning module 12 for To generate a real-time dynamic positioning (Real-Time Kinematic, RTK) signal of the UAV 1; a memory module 13 to store the flight command; an image capture module 14 to capture the shooting scene Several images; a flight module 15, used to allow the drone 1 to fly, take off and land; and a control module 16, connected to the first wireless communication module 11, the positioning module 12, and the memory module 13 The image capture module 14 and the flight module 15 are used to control the flight direction and/or speed of the flight module 15 according to the route and mission planning, so that the UAV arrives and is positioned at the mission. After the position is reached, the image capture module 14 is triggered to perform simultaneous shooting of aerial images.

The ground station 2 has a second wireless communication module 21, a database module 22, and a computing processing module 23 connecting the second wireless communication module 21 and the database module 22. The ground station 2 communicates wirelessly with the drones 1 to receive a setting parameter of the shooting area. The setting parameter includes the height, focal length, and expected areas of the shooting area, and is calculated based on the setting parameter. The number of UAVs 1 required to perform the shooting task and the task position corresponding to each UAV 1 performing the shooting task are determined, and then the RTK signal of each UAV 1 is received. Route and mission planning calculations, and transmit the flight command including the mission location and the route and mission plan to the corresponding UAV 1, so that each UAV 1 can fly to the corresponding location according to the corresponding route and mission plan. After the task location is determined, the synchronous shooting task and aerial photo upload are performed according to the synchronous shooting trigger signal.

The background image stitching system 3 is a cloud server, which communicates wirelessly with the drones 1 through the first wireless communication modules 11, and communicates wirelessly with the ground station 2 through the second wireless communication module 21, It is used to receive these aerial images and perform modeling. Through orthographic projection and splicing post-processing, a zero-day spliced aerial image is finally obtained, and then the zero-day spliced aerial image is transmitted back to the ground station 2 and stored in This database is in module 22. In this way, through the process disclosed above, a brand new structure is formed for the zero-time difference huge aerial photo shooting device of drone swarm flight.

The above-mentioned first wireless communication module 11 and the second wireless communication module 21 are a LoRa module, a 4G module, a WiFi module, a Bluetooth module, or a combination thereof.

The above-mentioned second wireless communication module 21 and the first wireless communication module 11 are mutually adapted to enable the ground station 2 to communicate with each drone 1 and transmit the flight command to each drone 1 through a star-shaped (mesh) wireless communication form. The control module 16 in the UAV 1 decodes each UAV 1 after receiving the flight command, obtains the route and mission plan corresponding to the mission position of the UAV 1, and obtains the timer in the route and mission plan. time, after the time synchronization action of the UAV 1 is completed according to the timer time, the group flight shooting mission of the UAV 1 can be carried out according to the route and mission planning, so that The drones 1 are all subject to a self-flight control mechanism and can still maintain stable flight and complete self-photography when communication is interrupted.

The above-mentioned ground station 2 has a built-in application program (APP), which can obtain the position distance (focal length) and flight altitude information of the ground reference object through the second wireless communication module 21, and can analyze and plan the flight route, determine the flight status and record the flight route in real time. .

When used, the present invention will focus on the expected area photographed by a drone 1 set at a certain height, set the field range to be photographed, and the ground station 2 will first calculate the number of drones 1 required for the task, and Calculate the mission location and design the route and mission planning of each UAV 1 in the fleet. After all UAVs 1 fly to the designated mission locations, the shooting mission and aerial photo upload will be triggered simultaneously. At this time, the background image stitching system 3 immediately starts modeling, and finally obtains a zero-day spliced aerial image. The process is shown in Figure 2.

The following examples are only examples for understanding the details and connotation of the present invention, but are not used to limit the patentable scope of the present invention.

[UAV group flight control and communication network]

該地面站向一區域發送大量的無人機傳輸訊息，當該些無人機開啟時將自動搜尋附近的無人機，並自動建立無線mesh網路，為該區域的該些無人機提供高速的無線網路(如Wi-Fi)通訊，可將每一無人機的狀況即時傳輸到該地面站，使該地面站可對每個無人機節點的數據容量進行有效的網路檢查，以進行該些無人機的任務佈置。隨著群飛無人機數量增加Mesh架構之傳輸速率之速度提升將更加明顯，如第4圖所示之傳統架構傳輸時間(Ts)與Mesh架構傳輸時間(Tmesh)比較圖。 This patent uses the UAV group flight command system of the Republic of China Announcement No. M593114 as the main control system, which can improve the traditional communication transmission method. Linear data transmission must always send dance flight commands without interruption. Once interrupted, the performance will be interrupted. shortcomings. The system used in this invention uploads the group flight command to the drone in advance. After entering the time-matching flight, the mission will not be interrupted due to communication interruption. The transmission method adopts Mesh transmission method for data transmission. The present invention uses a UAV system to build a wireless mesh network to provide high-speed communication and supports the system architecture of the mesh network, as shown in Figure 3. When there are n drone nodes (Node), the transmission unit time is t, and the transmission bandwidth is b, when using the binary Mesh architecture, the required time t _mesh and bandwidth b _mesh are respectively:

The ground station sends a large number of drone transmission messages to an area. When the drones are turned on, they will automatically search for nearby drones and automatically establish a wireless mesh network to provide high-speed wireless networks for the drones in the area. Through communication (such as Wi-Fi), the status of each drone can be transmitted to the ground station in real time, so that the ground station can conduct effective network checks on the data capacity of each drone node to carry out operations on these drones. Machine task arrangement. As the number of drones flying in the group increases, the transmission rate of the Mesh architecture will increase more obviously, as shown in Figure 4, which compares the transmission time of the traditional architecture (Ts) and the transmission time of the Mesh architecture (Tmesh).

[Resolution]

Image resolution refers to the amount of information stored in the image, which is the number of pixels per inch of the image. The unit is PPI (Pixels Per Inch), which determines the clarity of the image. The width and height dimensions together determine the size and image quality of the image file. It can also be expressed as "the number of horizontal pixels × the number of vertical pixels" contained in the image. For example, the resolution of a photo is 5472×3648. The resolution mentioned in Geographic Information System (GIS) represents the actual distance on the ground represented by a graphic element, and is a measure of the minimum distance at which remote sensing images can differentiate between two adjacent features. Resolution includes Spatial Resolution and Ground Resolution, so the relevant definition information is listed as follows:

1. Spatial resolution, also called Ground Sample Distance (GSD): refers to the size of the graphic element expressed in ground distance units in digital images, that is, the length of the ground represented by one graphic element. For example, if the ground sampling interval of an image is 5cm, that is, the length of the ground represented by one pixel of the image is 5cm.

2. Ground resolution, also called geometric resolution: the width of the smallest feature that can be distinguished on the ground. Only when the feature is larger than 2 pixels can it be correctly distinguished from the image. It can also be considered that ground resolution = 2*ground sampling interval. For example, the ground sampling interval of an image is 5cm, that is, the length of the ground represented by one pixel of the image is 5cm. However, only ground objects larger than the size of two pixels (i.e. 10cm) can be distinguished, so the ground length of the image The resolution is 10cm.

Because UAVs are highly maneuverable and produce images with higher Ground Sampling Distance (GSD) than traditional satellite images and aerial photography (as shown in Table 1), they fly at low altitudes with high overlap, and then Aerial image stitching and correction are performed through image pre-processing to obtain high-resolution orthophotos and spectral images.

[Flight altitude calculation]

The calculation of flight altitude requires knowing the GSD (ground resolution), camera (i.e. image capture module) focal length, camera sensor width (mm) and photo width (pixel); the calculation processing module of the ground station is based on geometric optics The object-image relationship, the four parameters of resolution size, photographic distance (flying height), focal length and number of sensor elements form a geometric relationship of a similar triangle, as shown in Figure 5. Its geometric relationship conversion formula is:

L _x =S _x ×GSD (4)

L _y =S _y ×GSD (5) Where, the GSD is the ground resolution (M/pixel), the r is the sensor size (mm), the S is the number of sensor elements (pixels), and the a is the pixel size (μm/pixel), f is the real focal length (mm), H is the flying height (M), and L is the actual size of the shot (M).

[Photo overlap]

For UAV aerial survey and telemetry systems, the directional overlap is generally 60% to 80%, with a minimum of not less than 53%; the lateral overlap is generally 15% to 60%, with a minimum of not less than 8%. Ground undulations will cause changes in overlap. The overlap degree will be large based on the low terrain area, and the overlap degree will be small based on the high terrain area. Therefore, when checking whether the overlap degree meets the requirements, the highest terrain in the overlapping part should be used as the criterion. Otherwise, aerial photography loopholes may occur. The size of photo overlap is expressed in terms of overlap. The percentage of the ratio of the length of the overlapping part to the actual size of the shot is called the degree of overlap, as shown in Figure 6.

其中該L為拍攝之實際尺寸(M)，該q為重疊部分長度(M)，該p為重疊長度(M)。

Among them, L is the actual size of the photo (M), q is the length of the overlapping part (M), and p is the overlapping length (M).

[Calculate the number of aircraft]

Therefore, the computing processing module calculates the number of drones required. As shown in Figure 7, when a shooting area with a size of W _x × W _y requires aerial photography, it is assumed that there are n drones in the horizontal direction and m drones in the vertical direction. UAVs, then the number of UAVs is converted to N, and the conversion formula is: W _x =n×L _x -(n-1)×q _x (8)

W _y =m×L _y -(m-1)×q _y (9) The number of UAVs is calculated as:

[Calculate aircraft mission position]

，與各無人機任務位置D_i,j公式為：w_x=L_x-q_x (11) The computing processing module calculates the mission position corresponding to each drone. As shown in Figure 8, the number of each drone can be derived from the number N of drones.

, and the formula for each UAV mission position D _i,j is: w _x =L _x -q _x (11)

w _y =L _y -q _y (12)

其中(

,

,0)為拍攝場域所定義的預期面積的左下角座標。

in(

,

,0) is the coordinate of the lower left corner of the expected area defined by the shooting field.

[Route and mission planning and synchronized trigger photography]

其中

The computing module uses route and mission planning to calculate the complete path and set the trigger time for synchronized shooting. Through the formula, the path files of the UAV mission positions obtained by equation (13) are exported in batches for path conversion, and the path files of D _i,j are converted into longitude, latitude and height coordinates and synchronous shooting trigger signals. The design of the UAV’s longitude, latitude and altitude coordinates and the numerical packet design of the synchronous shooting trigger signal is as shown in Table 2:

in

The flight path file containing the communication packet is converted through the aforementioned program. The simulation is performed in the processing module to preview the path and check the path interleaving status. Safety isolation check and flight speed detection are also performed. When the simulation is correct, it will be sent through the second wireless The communication module transmits flight commands containing communication packets to each drone for simultaneous shooting tasks.

Thereby, the present invention can significantly save the cost of photographing aerial images, and can provide a zero-time huge aerial image with high accuracy and precision equivalent to that of satellite aerial images.

To sum up, the present invention is a zero-time difference huge aerial photo shooting device based on a group of drones. It can effectively improve the shortcomings of conventional methods. It can take a photo taken by a drone set at a certain height. Based on the expected area to be photographed, the area of the field to be photographed is set. The ground station first calculates the number of drones required for the mission, calculates the mission location, and designs the route and mission planning of each drone in the fleet. . After all the drones fly to the designated mission positions, the shooting tasks and aerial images are uploaded simultaneously. The aerial images are then collected through the background image splicing system for orthographic projection and splicing post-processing to achieve a zero-time difference in huge aerial images. Picture shooting task, thereby making the invention more advanced, more practical, and more in line with the needs of users. It has indeed met the requirements for an invention patent application, and the patent application must be filed in accordance with the law.

However, the above are only preferred embodiments of the present invention, and should not be used to limit the scope of the present invention; therefore, any simple equivalent changes and modifications made based on the patent scope of the present invention and the content of the invention description , should still fall within the scope covered by the patent of this invention.

1: Drone

11:The first wireless communication module

12: Positioning module

13:Memory module

14:Image capture module

15:Flight module

16:Control module

2: Ground station

21:Second wireless communication module

22:Database module

23:Computational processing module

3:Backstage image stitching system

Claims (7)

A zero-time huge aerial photo shooting device based on a group of drones, including: several drones, each drone is positioned at a height above a shooting field, and the focal length of each drone is set Correctly corresponding to several expected areas defined by the shooting area, each drone includes a first wireless communication module for receiving a flight command corresponding to the drone. The flight command includes a mission location and a route. and mission planning; a positioning module to generate the real-time dynamic positioning (Real-Time Kinematic, RTK) signal of the UAV; a memory module to store the flight command; an image capture module to Capture several images of the shooting area; a flight module used to allow the drone to fly, take off and land; and a control module connected to the first wireless communication module, the positioning module, and the memory module. The set, the image capture module, and the flight module are used to control the flight direction and/or speed of the flight module according to the route and mission plan, so that the UAV flies and is positioned at the mission location. , triggering the image capture module to perform synchronous shooting of aerial images; a ground station having a second wireless communication module, a database module, and a connection between the second wireless communication module and the database module The computing processing module, the ground station wirelessly communicates with the several drones to receive a setting parameter of the shooting area, the setting parameters include the height, focal length, and the expected areas of the shooting area, according to This setting parameter calculates the number of drones required to perform the shooting task and the task position corresponding to each drone performing the shooting task, and then performs the measurement of each drone based on the received RTK signal of each drone. Route and mission planning calculations, and transmit the flight command including the mission location and the route and mission plan to the corresponding drone, so that each drone can fly to the corresponding drone according to the respective route and mission plan. After the mission is located, the synchronous shooting task and aerial photos are uploaded according to the synchronous shooting trigger signal. Among them: the computing processing module calculates the number of drones required. This is when a shooting area with a size of W _x × W _y requires aerial photography. When , assuming that there are n drones in the horizontal direction and m drones in the longitudinal direction, the converted number of drones is N, and the conversion formula is: W _x = n × L _x -( n -1)× q _x ; W _y = m × L _y -( m -1)× q _y ; where L is the actual size of the shot (M), and q is the length of the overlapping part (M). The number of drones required is:

The computing processing module calculates the mission position corresponding to each drone, and the number of each drone can be derived from the number N of the drones.

, and the formula of each UAV mission position D _i,j is: w _x = L _x - q _x ; w _y = L _y - q _y ;

in(

,

, 0) The coordinates of the lower left corner of the expected area defined by the shooting area; the computing module uses route and mission planning to calculate the complete path and set the synchronous shooting trigger time, and batches the UAV mission locations. Exit the path file for path conversion, convert the path file of D _{i, j} into longitude, latitude and height coordinates and synchronized shooting trigger signals, and execute a simulation preview path and check the path interleaving status, and perform safety isolation inspection and flight speed detection. After the simulation is correct, flight commands containing communication packets will be sent to each drone through the second wireless communication module to perform synchronized shooting tasks; and a background image stitching system will communicate with the drones through the first wireless communication modules. wireless communication, and wireless communication with the ground station through the second wireless communication module to receive the aerial photos and perform modeling. Through orthographic projection and splicing post-processing, a zero-day spliced aerial photo is finally obtained. image, and then transmit the zero-time difference spliced aerial image back to the ground station and store it in the database module. According to the structure described in item 1 of the patent application scope, a zero-time difference huge aerial photo shooting device for UAV group flight, in which the ground station sends a large number of UAV transmission messages to an area. When these UAVs are turned on It will automatically search for nearby drones and automatically establish a wireless star (mesh) network to provide high-speed wireless network communications for the drones in the area and transmit the status of each drone to the ground in real time. station, so that the ground station can conduct effective network inspection of the data capacity of each UAV node to arrange the missions of these UAVs. According to the structure described in item 1 of the patent application scope, a zero-time difference huge aerial photo shooting device for UAV group flight, wherein the first wireless communication module and the second wireless communication module are a LoRa module, A 4G module, a WiFi module, a Bluetooth module, or a combination thereof. According to the structure described in item 1 of the patent application scope, a zero-time difference huge aerial photo shooting device for UAV group flight, wherein the second wireless communication module and the first wireless communication module are adapted to each other, so that the The ground station communicates with each drone and transmits the flight command to the control module in each drone through mesh wireless communication. Each drone receives the flight command and decodes it to obtain the corresponding mission position of the drone. Route and mission planning, and obtain the timer time in the route and mission plan. After the UAV timing action is completed using the timer time, the UAV can be flown in groups according to the route and mission plan. The shooting task is such that the drones are all subject to a self-flight control mechanism and can still maintain stable flight when communication is interrupted. Based on the architecture described in item 1 of the patent application, a zero-time difference huge aerial photo shooting device for UAV group flight, in which the calculation processing module calculates the flight height based on the geometric optical object-image relationship, distinguishes the size, and the shooting distance The four arguments (flight height), focal length and the number of sensor elements of the image capture module form a geometric relationship similar to a triangle. The geometric relationship conversion formula is:

L _x = S _x × GSD ; L _y = S _y × GSD ; where GSD is the ground resolution (M/pixel), r is the sensor size (mm), and S is the number of sensor primitives (pixel), a is the pixel size (μm/pixel), f is the real focal length (mm), H is the flying height (M), and L is the actual size of the shot (M). According to the architecture described in item 1 of the patent application, a zero-time difference giant aerial photo shooting device for drone group flights is provided, in which the background image stitching system is a cloud server. According to the structure described in item 1 of the patent application, a zero-time difference huge aerial photo shooting device for UAV group flight, wherein the ground station has an application program (APP) built in it, which can use the second wireless communication module Obtain ground reference object position distance (focal length) and flight altitude information, instantly analyze and plan flight routes, determine flight status and record flight routes.