WO2018053713A1

WO2018053713A1 - Aircraft-based processing method and device, and aircraft

Info

Publication number: WO2018053713A1
Application number: PCT/CN2016/099597
Authority: WO
Inventors: 陈超彬; 佟源洋
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2016-09-21
Filing date: 2016-09-21
Publication date: 2018-03-29
Also published as: CN108139714A

Abstract

Embodiments of the present invention provide an aircraft-based processing method and device, and an aircraft. The method comprises: monitoring first frequency information used by an aircraft in a target signal transmission process; analyzing the first frequency information according to preset second frequency information to obtain an exception handling mechanism, the exception handling mechanism being preset according to a frequency range determined by the second frequency information; and carrying out control processing according to an indication of the obtained exception handling mechanism. Embodiments of the present invention can effectively analyze whether the frequency used by a currently transmitted signal is exceptional or not, and can execute exception handling if the frequency is exceptional, so that users can realize frequency monitoring and frequency exception handling automatically and intelligently.

Description

Aircraft-based processing method, device and aircraft

The disclosure of this patent document contains material that is subject to copyright protection. This copyright is the property of the copyright holder. The copyright owner has no objection to the reproduction of the patent document or the patent disclosure in the official records and files of the Patent and Trademark Office.

Technical field

The present invention relates to the field of communications technologies, and in particular, to an aircraft-based processing method, apparatus, and aircraft.

Background technique

The flight control system of the aircraft or other functional modules (eg, the processor of the camera mounted on the aircraft) receives or transmits a plurality of different frequency data stream signals and command stream signals. Only the data stream signal and the command stream signal are sent and received at the correct working frequency, so that the functional modules such as the flight control system of the aircraft can be well guaranteed. The prior art also lacks a solution for monitoring and processing communication frequencies on an aircraft.

Summary of the invention

Embodiments of the present invention provide an aircraft-based processing method, apparatus, and aircraft, which can effectively perform monitoring and related processing of communication frequencies in an aircraft.

In one aspect, an embodiment of the present invention provides an aircraft-based processing method, including:

Monitoring first frequency information used by the aircraft during target signal transmission;

And analyzing the first frequency information according to the preset second frequency information to obtain an abnormality processing mechanism, where the abnormality processing mechanism is preset according to a frequency range determined by the second frequency information;

Control processing is performed according to the indication of the acquired exception handling mechanism.

In another aspect, an embodiment of the present invention provides an aircraft-based processing apparatus, including:

a monitoring module, configured to monitor first frequency information used by the aircraft during the target signal transmission process;

An acquiring module, configured to analyze the first frequency information according to the preset second frequency information, to obtain an abnormality processing mechanism, where the abnormality processing mechanism is preset according to a frequency range determined by the second frequency information; as well as

And a control module, configured to perform control processing according to the indication of the acquired exception handling mechanism.

Correspondingly, an embodiment of the present invention further provides an aircraft, including: a communication interface, a processor,

The communication interface is configured to transmit a communication signal with an external device or an internal function module;

The processor is configured to monitor first frequency information used by the aircraft in the process of transmitting the target signal by the communication interface, and analyze the first frequency information according to the preset second frequency information to obtain an exception processing a mechanism, the exception handling mechanism is preset according to a frequency range determined by the second frequency information; and performing control processing according to the indication of the acquired exception handling mechanism.

With the embodiment of the invention, the frequency used by the communication signal transmitted by the aircraft can be automatically monitored, and the second frequency for analyzing the used frequency and the corresponding abnormal processing mechanism can be set, and the current transmission can be effectively analyzed. Whether the frequency used by the signal is abnormal or not, and abnormal processing can be performed after the abnormality, which satisfies the user's automation and intelligent requirements for frequency monitoring and frequency abnormality processing.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings to be used in the embodiments will be briefly described below. Obviously, the drawings in the following description are only some of the present invention. For the embodiments, those skilled in the art can obtain other drawings according to the drawings without any creative work.

1 is a schematic flow chart of an aircraft-based processing method according to an embodiment of the present invention;

2 is a schematic flow chart of another aircraft-based processing method according to an embodiment of the present invention;

3 is a schematic flowchart of a method for preset a frequency interval according to an embodiment of the present invention;

4 is a schematic structural diagram of an aircraft-based processing apparatus according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of an internal control structure of an aircraft according to an embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, instead of All embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

The aircraft is generally wirelessly communicated with an external remote control (such as a smart phone, tablet or dedicated smart remote) to transmit corresponding command stream signals and data stream signals. The command stream signal mainly refers to the control command issued by the remote controller to the aircraft, including control instructions for the flight direction and flight height of the aircraft. The data stream signal mainly includes the corresponding data that the aircraft sends to the remote controller after monitoring the corresponding data, for example, the video captured by the mounted camera. These signals need to be modulated and transmitted based on a specific frequency.

At the same time, there are signal interactions between the functional modules inside the aircraft. For example, there is a control signal for adjusting the motor speed between the flight processor and the electronic governor. These signals also need to be modulated and transmitted based on a specific frequency.

In order to ensure that these signals can be sent and received normally, frequency monitoring and processing mechanisms configured for various frequency monitoring results are set in the aircraft. When transmitting signals between internal modules of the aircraft or between external devices, the aircraft first monitors the first frequency information used by the currently transmitted signal, and then compares the first frequency information with the preset second frequency information to determine Whether the first frequency information is abnormal, and after determining an abnormality, acquiring a corresponding abnormality processing mechanism to perform corresponding control on the frequency signal or the aircraft.

The aircraft will predetermine the frequency information that the target signal can be normally transmitted and received, which may be a frequency value. This frequency value can be entered manually by the user. The target signal can be transmitted with different frequency to perform multiple tests to determine whether the signal can be normally transmitted and received, thereby determining the normal frequency value of the target signal. After determining the normal frequency value, the second frequency information is preset according to the normal frequency value, and the second frequency information includes a plurality of frequency ranges. The second frequency information is preset based on a limited condition of the function of the aircraft or the external device in the case where the target signal is transmitted at a different frequency. For example, the normal working frequency of A data stream is aHZ (hertz), all functions can work normally when working in [ab, a+b] interval, working in [ac, ab] and [a+b, a+c] This data is not available for some functions, and cannot be used by all functions outside the [ac, a+c] range (a>c>b>0). For each frequency range determined by the second frequency information, different processing mechanisms may be configured. Specifically, in the frequency range corresponding to normal operation, no processing mechanism needs to be performed. The exception handling mechanism can be configured when the frequency range corresponding to some or all of the functions is not working properly. For example, the default frequency that A data inputs to the monitor when real-time frequency monitoring is enabled is a, and the primary frequency interval is [a-b, a+b], is normal. The secondary frequency interval is [a-c, a-b] and [a+b, a+c], which is the first abnormal level. The third-order frequency interval is outside the interval [a-c, a+c] and is the second abnormal level. A multi-level frequency interval can be defined if the data or command has a multi-level interval distinguishing attribute. The exception handling mechanism corresponding to the first exception level may be an LED specific blinking prompt, and the control related function does not use the data. The exception handling mechanism corresponding to the second abnormal level may be returning or landing.

After detecting the first frequency information of the currently transmitted signal (a specific frequency value), comparing the first frequency information with each frequency range in the second frequency information, determining the range in which the first frequency information falls . The abnormality level at which the first frequency information is located and the corresponding abnormality processing mechanism are determined according to the falling range, and corresponding processing or an alarm prompt is performed on the aircraft.

Specifically, please refer to FIG. 1 , which is a schematic flowchart of an aircraft-based processing method according to an embodiment of the present invention. The method in the embodiment of the present invention may be performed by a flight processor or a dedicated processor configured in an aircraft. Specifically, the method includes the following steps.

S101: Monitor first frequency information used by the aircraft during target signal transmission. Specifically, the first frequency information is a frequency value of the monitored target signal. A frequency measurement circuit module can be provided in the aircraft to detect and determine the target signal received or transmitted by the aircraft. The specific detection principle is that when the number of periods of the measured signal in a certain time period T is N, the frequency of the measured signal can be obtained based on the frequency f=N/T. Measurements can be taken multiple times to get a more accurate frequency value.

S102: Analyze the first frequency information according to the preset second frequency information to obtain an abnormality processing mechanism, where the abnormality processing mechanism is preset according to a frequency range determined by the second frequency information. The second frequency information mainly refers to one or more frequency range information determined according to a normal operating frequency value of the target signal.

Specifically, according to the normal working frequency value of the target signal, the second frequency information may include a first frequency interval and a second frequency interval, wherein the first frequency interval is a normal frequency interval, and the second frequency interval is an abnormal frequency Interval. When the second frequency information is preset, an abnormality processing mechanism is also pre-configured for the abnormal frequency interval, so that when the frequency of the target signal is abnormal, corresponding processing is performed. The abnormality processing mechanism may be an alarm mechanism or a mechanism for directly controlling the aircraft, such as controlling the return of the aircraft, landing, and the like.

The second frequency information may also be that the target signal is modulated and a transceiving operation is performed by using a plurality of different frequency values in advance, and in the process of detecting the target signal occurring at the frequencies, Whether the operation of one (or more) functions of the aircraft is abnormal, and the frequency values at which the abnormality occurs are recorded, thereby determining a frequency interval that causes the aircraft to be abnormal, and the frequency interval is the second frequency information. Further, the degree of abnormality may occur according to the function, for example, the degree of influence on a certain function is small, the abnormality is not obvious; or the influence on a certain function is large, and the function is completely unusable, according to the degree of occurrence of the abnormality, Further, the abnormal frequency interval is split into multiple intervals, and different exception handling mechanisms are configured for each interval.

Before the S101, a mapping table of two abnormal frequency intervals and a corresponding abnormality processing mechanism may be preset for the target signal, and corresponding abnormalities may be acquired based on the mapping table and the specific frequency value monitored in S101. Processing mechanism.

S103: Perform control processing according to the indication of the acquired exception handling mechanism. The controlling process according to the indication of the abnormal processing mechanism includes: an alert prompting, for example, controlling the LEDs to blink in a specific pattern; controlling the aircraft to return or land.

Referring to FIG. 2, it is a schematic flowchart of another aircraft-based processing method according to an embodiment of the present invention. The method in the embodiment of the present invention may be performed by a flight processor or a dedicated processor configured in an aircraft. Specifically, the method includes the following steps.

S201: preset second frequency information, and configure an exception processing mechanism according to the second frequency information. In the embodiment of the present invention, the second frequency information includes multiple, and each second frequency information is associated with The exception handling mechanism, and the processing methods corresponding to each exception handling mechanism are different. Specifically, the second frequency information includes a first abnormal frequency interval and a second abnormal frequency interval, and an abnormality processing mechanism for the early warning prompt processing is configured for the first abnormal frequency interval, and the second abnormal frequency interval is configured An exception handling mechanism that controls the aircraft to perform secure processing is configured.

S202: Detect whether the currently transmitted signal is a designated signal to be monitored. In the embodiment of the present invention, only certain signals related to flight safety or data transmission may be detected to ensure the safety of the flight of the aircraft, and to ensure that the user obtains the monitoring data he wants. Therefore, the specified signal to be detected may be: a control command stream signal transmitted from the ground control terminal to the aircraft, from the flight The monitored video image data stream signal sent by the device. Of course, a user interface can be provided to facilitate the user to select the signal that he or she wants to monitor, and the signal selected by the user is the designated signal to be checked. When the detection is YES, S203 described below is performed. Otherwise, it is terminated until this step is detected when there is a signal transmission between the aircraft and the external device or inside the aircraft.

S203: Monitor first frequency information used by the aircraft during the target signal transmission; the S202 may specifically include: monitoring a data flow signal and/or a control command flow signal when the aircraft communicates with an external device or inside the aircraft. Frequency information, and the frequency information is monitored as the first frequency information.

S204: Analyze the first frequency information according to the preset second frequency information to obtain an exception handling mechanism. Determining, according to the abnormal frequency interval included in the second frequency information, an abnormal frequency interval to which the frequency value corresponding to the first frequency information belongs, and searching and acquiring a corresponding abnormality processing mechanism according to a mapping relationship between the abnormal frequency interval and the abnormal processing mechanism .

S205: Perform control processing according to the indication of the acquired exception handling mechanism. Specifically, if the analysis result in the S204 is that the frequency value corresponding to the first frequency information is in the first abnormal frequency interval, the S205 may specifically include: indicating according to the acquired abnormal processing mechanism An alert prompt process is performed, and the alert prompt process is used to issue a prompt for a signal transmission abnormality. If the analysis result of the S204 is that the frequency value corresponding to the first frequency information is in the second abnormal frequency interval, the S205 specifically includes: controlling the execution of the aircraft according to the indication of the acquired abnormality processing mechanism. Safe handling, including automatic return and/or automatic landing.

Referring to FIG. 3, FIG. 3 is a schematic flowchart of a method for preset a frequency interval according to an embodiment of the present invention. The method of the embodiment of the present invention is used to preset the second frequency information in an aircraft, so as to facilitate The first frequency information is analyzed. Specifically, the method includes the following steps.

S301: Acquire an operating frequency value when the preset aircraft transmits the target signal. The value may be a frequency value obtained by a large number of actual tests, that is, the target signal is transmitted using a large number of different frequency values, and the signal is selected such that the transmission and reception of the signal does not substantially affect the function of the aircraft or the ground end remote controller. Frequency value.

S302: Determine a normal operating frequency interval of the target signal according to the working frequency value, and determine an abnormal frequency interval of the target signal. Mainly to determine the abnormal frequency interval, in order to configure the response processing mechanism for each abnormal frequency interval.

The determining an abnormal frequency interval of the target signal includes: triggering the The aircraft transmits the target signal; marks a frequency value at which a functional fault occurs during transmission of the target signal; and determines an abnormal frequency interval of one or more of the target signals based on the frequency value of the marker.

S303: The configuration exception handling mechanism is associated with the abnormal frequency interval. A mapping table may be established for the target signal, the one or more abnormal frequency intervals included on the mapping table, and one or more exception handling mechanisms included in each abnormal frequency interval.

S304: The abnormal frequency interval is used as the second frequency information. And determining the determined one or more abnormal frequency intervals as second frequency information in a database with the target signal as an identifier, the latter storing the target signal and the second frequency information map into the mapping table Therefore, when the target signal needs to be monitored, the corresponding second frequency information (each abnormal frequency interval) and the corresponding abnormal processing mechanism can be found through the target signal.

Embodiments of the present invention also provide a computer storage medium storing program instructions for performing the above-described aircraft-based processing method when executed.

The aircraft-based processing apparatus and aircraft of the embodiments of the present invention are described in detail below.

Referring to FIG. 4, it is a schematic structural diagram of an aircraft-based processing apparatus according to an embodiment of the present invention. The apparatus of the embodiment of the present invention may be disposed in an aircraft. Specifically, the apparatus includes the following modules.

The monitoring module 401 is configured to monitor the first frequency information used by the aircraft in the target signal transmission process, and the acquiring module 402 is configured to analyze the first frequency information according to the preset second frequency information to obtain an exception processing. a mechanism, the exception handling mechanism is preset according to the frequency range determined by the second frequency information; and the control module 403 is configured to perform control processing according to the indication of the acquired exception handling mechanism.

Further, the monitoring module 401 is specifically configured to monitor frequency information of a data stream signal and/or a control command stream signal when the aircraft communicates with an external device or inside the aircraft, and monitor the frequency information as First frequency information.

Further, the device may further include: a preset module 404, configured to acquire a preset operating frequency value when the aircraft transmits the target signal; and determine a normality of the target signal according to the working frequency value. a working frequency interval, and determining an abnormal frequency interval of the target signal; configuring an abnormality processing mechanism to be associated with the abnormal frequency interval; and using the abnormal frequency interval as the second frequency information.

Further optionally, the preset module 404 is specifically configured to trigger the aircraft to transmit the target signal at different frequencies; mark a frequency value when a function fault is generated in the process of transmitting the target signal; The frequency value determines an abnormal frequency interval of one or more of the target signals.

Further, optionally, the second frequency information includes multiple, each second frequency information is associated with an exception handling mechanism, and the processing manner corresponding to each exception processing mechanism is different.

Further, optionally, the control module 403 is configured to perform an alert prompt process according to the obtained indication of the abnormality processing mechanism, where the alert prompt process is used to send a prompt for sending a signal abnormality; or according to the acquired abnormality An indication of a processing mechanism that controls the aircraft to perform a security process, the security process including: automatic return and/or automatic landing.

Further, the device may further include: a determining module 405, configured to determine that the currently transmitted data stream signal and/or the control command stream signal is a pre-specified signal to be monitored, and if yes, notify the monitoring module 401 .

Referring to FIG. 5, it is a schematic diagram of an internal control structure of an aircraft according to an embodiment of the present invention. The aircraft of the embodiment of the present invention includes a power supply, a motor, a propeller, an electronic governor, and the like, and further includes: communication. Interface 501, processor 502, and memory 503.

The memory 503 may include a volatile memory 503, such as a random access memory (RAM); the memory 503 may also include a non-volatile memory 503, such as Flash memory 503 (flash memory), hard disk drive (HDD) or solid-state drive (SSD); memory 503 may also include a combination of memories 503 of the kind described above.

The processor may be a central processing unit (CPU). The processor may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a general array logic (GAL), or any combination thereof.

Optionally, the memory 503 is further configured to store program instructions. The processor 103 can invoke the program instructions to implement a data acquisition method as shown in the embodiments of Figures 2, 4 and 5 of the present application.

The communication interface 501 is configured to transmit a communication signal with an external device or an internal function module.

The processor 502 is configured to monitor first frequency information used by the aircraft in the process of transmitting the target signal by the communication interface 501, and analyze the first frequency information according to the preset second frequency information to obtain An exception handling mechanism that is preset in accordance with a frequency range determined by the second frequency information; and performs control processing according to the indication of the acquired exception handling mechanism.

Further optionally, when used to monitor the first frequency information used by the aircraft during the target signal transmission, the processor is specifically configured to monitor data flow when the aircraft communicates with an external device or inside the aircraft The signal and/or the frequency information of the command stream signal is controlled, and the frequency information is monitored as the first frequency information.

Further optionally, the processor is further configured to acquire a preset working frequency value when the aircraft transmits the target signal, determine a normal working frequency interval of the target signal according to the working frequency value, and determine An abnormal frequency interval of the target signal; a configuration abnormality processing mechanism is associated with the abnormal frequency interval; and the abnormal frequency interval is used as second frequency information.

Further optionally, when determining an abnormal frequency interval of the target signal, the processor is specifically configured to trigger the aircraft to transmit the target signal at different frequencies; and mark the process of transmitting the target signal Generating a frequency value at the time of a malfunction; and determining an abnormal frequency interval of one or more of the target signals based on the frequency value of the flag.

Further optionally, the second frequency information includes multiple, each of the second frequency information is associated with An exception handling mechanism is set, and the processing methods corresponding to each exception handling mechanism are different.

Further, optionally, when the control process is performed according to the indication of the acquired exception processing mechanism, the processor is specifically configured to perform an alert prompt process according to the obtained indication of the abnormality processing mechanism, where the alert prompt is generated. Handling a prompt for issuing a signal transmission exception; or controlling the aircraft to perform a security process based on the indication of the acquired exception handling mechanism, the security process including: automatic return and/or automatic landing.

Further optionally, the processor is further configured to perform, when the currently transmitted data stream signal and/or the control command stream signal is a pre-specified signal to be monitored, use by the monitoring aircraft in the target signal transmission process. The first frequency information.

One of ordinary skill in the art can understand that all or part of the process of implementing the foregoing embodiments can be completed by a computer program to instruct related hardware, and the program can be stored in a computer readable storage medium. When executed, the flow of an embodiment of the methods as described above may be included. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

The above is only the preferred embodiment of the present invention, and the scope of the present invention is not limited thereto, and thus equivalent changes made in the claims of the present invention are still within the scope of the present invention.

Claims

An aircraft-based processing method, comprising:

Monitoring first frequency information used by the aircraft during target signal transmission;

And analyzing the first frequency information according to the preset second frequency information to obtain an abnormality processing mechanism, where the abnormality processing mechanism is preset according to a frequency range determined by the second frequency information;

Control processing is performed according to the indication of the acquired exception handling mechanism.
The method of claim 1, wherein the monitoring the first frequency information used by the aircraft during the transmission of the target signal comprises:

The frequency information of the data stream signal and/or the control command stream signal when the aircraft communicates with the external device or inside the aircraft is monitored, and the frequency information is monitored as the first frequency information.
The method of claim 1 or 2, further comprising:

Obtaining an operating frequency value when the preset aircraft transmits the target signal;

Determining a normal operating frequency interval of the target signal according to the working frequency value, and determining an abnormal frequency interval of the target signal;

Configuring an exception handling mechanism associated with the abnormal frequency interval;

The abnormal frequency interval is taken as the second frequency information.
The method according to claim 3, wherein said determining an abnormal frequency interval of said target signal comprises:

Triggering the aircraft to transmit the target signal at different frequencies;

Marking a frequency value at which a functional fault occurs during transmission of the target signal;

An abnormal frequency interval of one or more of the target signals is determined based on the frequency value of the flag.
The method according to any one of claims 1 to 3, wherein the second frequency information comprises a plurality, each of the second frequency information is associated with an exception handling mechanism, and the processing corresponding to each exception processing mechanism The way is different.
The method according to any one of claims 1-5, wherein the performing the control processing according to the indication of the acquired exception handling mechanism comprises:

Performing an alert prompt process according to the indication of the acquired exception handling mechanism, where the alert alert process is used to issue a prompt for signaling abnormality; or

Controlling the aircraft to perform a security process based on the indication of the acquired exception handling mechanism, the security process including: automatic return and/or automatic landing.
The method of any of claims 1-6, further comprising:

The first frequency information used by the monitoring aircraft during the transmission of the target signal is performed when the currently transmitted data stream signal and/or the control command stream signal is a pre-specified signal to be monitored.
An aircraft-based processing apparatus, comprising:

a monitoring module, configured to monitor first frequency information used by the aircraft during the target signal transmission process;

An acquiring module, configured to analyze the first frequency information according to the preset second frequency information, to obtain an abnormality processing mechanism, where the abnormality processing mechanism is preset according to a frequency range determined by the second frequency information; as well as

And a control module, configured to perform control processing according to the indication of the acquired exception handling mechanism.
The device of claim 8 wherein:

The monitoring module is configured to monitor frequency information of a data stream signal and/or a control command stream signal when the aircraft communicates with an external device or inside the aircraft, and monitor the frequency information as the first frequency information.
The device according to claim 8 or 9, further comprising:

a preset module, configured to acquire a preset operating frequency value when the aircraft transmits the target signal; determine a normal operating frequency interval of the target signal according to the working frequency value, and determine an abnormal frequency of the target signal a section; a configuration exception handling mechanism is associated with the abnormal frequency interval; and the abnormal frequency interval is used as the second frequency information.
The device of claim 10 wherein:

The preset module is configured to trigger the aircraft to transmit the target signal at different frequencies; mark a frequency value when a function fault is generated in the process of transmitting the target signal; and determine one or according to the frequency value of the mark An abnormal frequency interval of the plurality of target signals.
The device according to any one of claims 8 to 10, wherein the second frequency information comprises a plurality, each of the second frequency information is associated with an exception handling mechanism, and the processing corresponding to each exception processing mechanism The way is different.
A device according to any of claims 8-12, wherein

The control module is configured to perform an alert prompt process according to the obtained indication of the abnormality processing mechanism, where the alert alert process is used to issue a prompt for signaling abnormality; or according to the indication of the acquired exception handling mechanism, the control device The aircraft performs a security process that includes automatic return and/or automatic landing.
The device of any of claims 8-13, further comprising:

And a judging module, configured to perform, when the currently transmitted data stream signal and/or the control command stream signal is a pre-specified signal to be monitored, performing the first frequency information used by the monitoring aircraft in the target signal transmission process.
An aircraft characterized by comprising: a communication interface, a processor,

The communication interface is configured to transmit a communication signal with an external device or an internal function module;

The processor is configured to monitor first frequency information used by the aircraft in the process of transmitting the target signal by the communication interface, and analyze the first frequency information according to the preset second frequency information to obtain an exception processing a mechanism, the exception handling mechanism is preset according to a frequency range determined by the second frequency information; and performing control processing according to the indication of the acquired exception handling mechanism.
The aircraft of claim 15 wherein:

The processor, configured to monitor when the aircraft communicates with an external device or inside the aircraft The data stream signal and/or the frequency information of the command stream signal are controlled, and the frequency information is monitored as the first frequency information.
An aircraft according to claim 15 or 16, wherein

The processor is further configured to acquire a preset operating frequency value when the aircraft transmits the target signal, determine a normal operating frequency interval of the target signal according to the working frequency value, and determine the target signal. An abnormal frequency interval; a configuration abnormality processing mechanism is associated with the abnormal frequency interval; and the abnormal frequency interval is used as the second frequency information.
The aircraft of claim 17 wherein:

The processor, configured to trigger the aircraft to transmit the target signal at different frequencies; mark a frequency value when a function fault is generated in the process of transmitting the target signal; and determine one or more according to the frequency value of the mark An abnormal frequency interval of the target signal.
The aircraft according to any one of claims 15-17, wherein the second frequency information comprises a plurality, each of the second frequency information is associated with an exception handling mechanism, and the processing corresponding to each exception processing mechanism The way is different.
An aircraft according to any of claims 15-19, wherein

The processor is configured to perform an alert prompt process according to the obtained indication of an abnormality processing mechanism, where the alert alert process is used to issue a prompt for signaling abnormality; or according to the indication of the acquired exception handling mechanism, the control The aircraft performs a security process that includes automatic return and/or automatic landing.
An aircraft according to any of claims 15-20, wherein:

The processor is further configured to perform, when the currently transmitted data stream signal and/or the control command stream signal is a pre-specified signal to be monitored, performing the first frequency information used by the monitoring aircraft in the target signal transmission process. .