WO2019200552A1 - 一种控制方法、设备、飞行器、系统及存储介质 - Google Patents

一种控制方法、设备、飞行器、系统及存储介质 Download PDF

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Publication number
WO2019200552A1
WO2019200552A1 PCT/CN2018/083472 CN2018083472W WO2019200552A1 WO 2019200552 A1 WO2019200552 A1 WO 2019200552A1 CN 2018083472 W CN2018083472 W CN 2018083472W WO 2019200552 A1 WO2019200552 A1 WO 2019200552A1
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WIPO (PCT)
Prior art keywords
information
aircraft
supervisory control
control information
supervisory
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2018/083472
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English (en)
French (fr)
Inventor
饶雄斌
赵沧波
龚明
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to PCT/CN2018/083472 priority Critical patent/WO2019200552A1/zh
Priority to CN201880010736.3A priority patent/CN110291571A/zh
Publication of WO2019200552A1 publication Critical patent/WO2019200552A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/70—Arrangements for monitoring traffic-related situations or conditions
    • G08G5/72—Arrangements for monitoring traffic-related situations or conditions for monitoring traffic
    • G08G5/727—Arrangements for monitoring traffic-related situations or conditions for monitoring traffic from a ground station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/51—Navigation or guidance aids for control when on the ground, e.g. taxiing or rolling
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/55—Navigation or guidance aids for a single aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/57—Navigation or guidance aids for unmanned aircraft

Definitions

  • the present invention relates to the field of control technologies, and in particular, to a control method, device, aircraft, system, and storage medium.
  • Embodiments of the present invention provide a control method, device, aircraft, system, and storage medium, which can more effectively supervise and control an aircraft.
  • an embodiment of the present invention provides a control method, which is applied to a monitoring device, and includes:
  • the supervisory control information is sent after receiving the flight characteristic information, wherein the supervisory control information includes a supervisory control command, and the supervisory control information is used to instruct the aircraft to perform a supervisory operation indicated by the supervisory control instruction.
  • an embodiment of the present invention provides another control method, which is applied to an aircraft, including:
  • the supervisory operation indicated by the supervisory control command is executed.
  • an embodiment of the present invention provides a monitoring device, including a memory and a processor;
  • the memory is configured to store program instructions
  • the processor executes the program instructions stored in the memory, and when the program instructions are executed, the processor is configured to perform the following steps:
  • the supervisory control information After receiving the flight characteristic information, the supervisory control information is sent, where the supervisory control information includes a supervisory control command, and the supervisory control information is used to instruct the aircraft to perform a supervisory operation indicated by the supervisory control instruction.
  • an embodiment of the present invention provides an aircraft, including:
  • a power system disposed on the fuselage for providing flight power
  • a processor configured to broadcast flight characteristic information; receive supervisory control information returned by the monitoring device, where the supervisory control information includes a supervisory control command; and after receiving the supervisory control information, executing the indication of the supervisory control command Regulatory operations.
  • an embodiment of the present invention provides a control system, including: a monitoring device and an aircraft,
  • the monitoring device is configured to receive flight feature information sent by the aircraft, and after receiving the flight feature information, send the supervisory control information, where the supervisory control information includes a supervisory control command;
  • the aircraft is further configured to receive supervisory control information returned by the monitoring device, and after receiving the supervisory control information, perform a supervisory operation indicated by the supervisory control command.
  • an embodiment of the present invention provides a computer readable storage medium, where the computer readable storage medium stores a computer program, and when the computer program is executed by the processor, implements the first aspect or the second aspect, Control Method.
  • the monitoring device receives the flight feature information sent by the aircraft, and after receiving the flight feature information, sends the supervisory control information to the aircraft, so that the aircraft performs the supervision included in the supervisory control information. Controls the supervisory actions indicated by the instructions. In this way, the supervision and control of the aircraft is realized, and the flight safety of the aircraft is improved.
  • FIG. 1 is a schematic structural diagram of a control system according to an embodiment of the present invention.
  • FIG. 2 is a timing diagram corresponding to an aircraft and a monitoring device according to an embodiment of the present invention
  • FIG. 3 is a schematic flowchart of a control method according to an embodiment of the present invention.
  • FIG. 4 is a schematic flow chart of another control method according to an embodiment of the present invention.
  • FIG. 5 is a schematic flowchart of still another control method according to an embodiment of the present disclosure.
  • FIG. 6 is a schematic flowchart of still another control method according to an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of a monitoring device according to an embodiment of the present invention.
  • the control method provided in the embodiments of the present invention may be performed by a control system including a monitoring device and an aircraft, and two-way communication between the monitoring device and the aircraft may be performed.
  • the aircraft may broadcast flight characteristic information
  • the monitoring device may be configured with one or more detectors that may scan the frequency at which the aircraft may operate in real time to receive Flight characteristics information. After receiving the flight characteristic information, the monitoring device can transmit regulatory control information to the aircraft.
  • the supervisory control information includes a supervisory control command, and the monitoring device may send a supervisory control command to the aircraft according to the received flight feature information to supervise and control flight and landing of the aircraft. , photo, video and other operations.
  • the monitoring device may be disposed in a specific location area, where the specific location area may include an area such as an airport, a government agency location, a military management area, etc., and a plurality of monitoring devices may be disposed on the specific location area.
  • the control method can also be applied to other mobile devices, such as a mobile device capable of autonomously moving, an unmanned automobile, a mobile terminal (such as a mobile phone), and the like, and the following corresponding device is used for the monitoring device.
  • the control method of the system composed of the aircraft is explained.
  • FIG. 1 is a schematic structural diagram of a control system according to an embodiment of the present invention.
  • the system includes a monitoring device 11, an aircraft 12, and a control terminal 13.
  • the communication connection between the aircraft 12 and the monitoring device 11 can be established by means of a wireless communication connection.
  • the communication connection between the aircraft 12 and the monitoring device may also be established through a wired communication connection.
  • the aircraft 12 may be an unmanned aerial vehicle, in particular a rotor-type unmanned aerial vehicle, such as a quadrotor unmanned aerial vehicle, a six-rotor unmanned aerial vehicle, an eight-rotor unmanned aerial vehicle, or a fixed-wing unmanned aerial vehicle.
  • the aircraft 12 includes a power system 121 for providing flight power to the aircraft 12, wherein the power system 121 includes any one or more of a propeller, a motor, and an ESC, and the aircraft 12 may also include a cloud.
  • the stage 122 and the imaging device 123 are mounted on the main body of the aircraft 12 via the pan/tilt 122.
  • the photographing device 123 includes, but is not limited to, a multi-spectral imager, a hyperspectral imager, a visible light camera, an infrared camera, etc.
  • the pan/tilt 122 is a multi-axis transmission and a stabilization system
  • the pan-tilt motor adjusts a rotation angle of the rotating shaft To compensate for the shooting angle of the imaging device, and to prevent or reduce the jitter of the imaging device by setting an appropriate buffer mechanism.
  • the control terminal 13 is configured to send a remote command to the aircraft 12 to control the flight of the aircraft 12.
  • the aircraft 12 may transmit flight feature information, for example, the aircraft broadcasts flight feature information during flight, and when the monitoring device 11 receives the flight feature information, the flight feature information may be The link information to the aircraft 12 is obtained, wherein the link information includes a frequency point and/or a bandwidth.
  • the monitoring device 11 may send the supervisory control information to the aircraft 12 according to the frequency and/or bandwidth indicated in the link information, where the supervisory control information is Includes regulatory control instructions.
  • the aircraft 12 may perform a supervisory operation indicated by the supervisory control command.
  • the embodiment of the present invention realizes the supervision and control of the aircraft 12 by the monitoring device 11 by implementing two-way communication between the monitoring device 11 and the aircraft 12.
  • the aircraft 12 may transmit flight characteristic information to the monitoring device 11 at random time intervals, in such a manner that the likelihood of simultaneous collisions of multiple aircraft simultaneously transmitting flight characteristic information may be reduced, for example, It is assumed that the time interval for the aircraft to transmit flight characteristic information is a fixed value ⁇ t. If two aircrafts transmit flight characteristic information at a time, then the two aircrafts then send the flight characteristic information at a fixed interval ⁇ t each time. Similarly, a continuous collision will inevitably occur in the transmission time, but if the flight characteristic information is transmitted at random time intervals as described in the embodiment of the present invention, the two aircrafts can transmit flight characteristic information at different time intervals, thereby reducing Multiple aircraft simultaneously transmit the possibility of a continuous collision of flight characteristic information.
  • the time interval is determined according to a preset time interval threshold selected from a preset time interval threshold set, wherein the preset time interval threshold set includes at least two preset time interval thresholds.
  • the preset time interval threshold set is ⁇ t a , ⁇ t b , ⁇ t c ⁇
  • the time interval may be from the set ⁇ t a , ⁇ t b , ⁇ t c ⁇ Select the determined time interval, such as ⁇ t a .
  • the time interval may also select a time interval from among them according to a preset filter rule.
  • the time interval during which the aircraft transmits the flight feature information may depend on the update speed of the flight feature information of the aircraft.
  • the update speed of the flight feature information of a common aircraft ranges from 0.5 s. ⁇ 2 s, that is, the time interval ranges from 0.5 s to 2 s.
  • the flight feature information broadcast by the aircraft 12 further includes aircraft identity information and/or location information.
  • the monitoring device 11 may receive the flight feature information from the received flight feature information when receiving the flight feature information. Obtaining aircraft identity information and/or location information, and displaying the acquired aircraft identity information and/or location information on an interaction interface of the monitoring device 11 for controlling a user of the monitoring device 11 View.
  • the aircraft identity information may include identification information (eg, SN code) of the aircraft, model information, engine number of the aircraft, a number programmed by the aircraft, etc., information related to the aircraft identity.
  • the embodiment of the present invention is not specifically limited.
  • the location information may include flight location information of the aircraft, wherein the location information may be location information output by a satellite positioning device (eg, a Global Positioning System (GPS)) configured on the aircraft.
  • GPS Global Positioning System
  • the monitoring device 11 may send the aircraft identity information and/or location information to the remote monitoring platform when acquiring the aircraft identity information and/or the location information in the flight feature information, so that The remote monitoring platform may display identity information and/or location information of the aircraft for the control personnel of the remote monitoring platform to monitor the aircraft 12 based on the identity information and/or location information of the aircraft.
  • the remote monitoring platform may be connected to one or more monitoring devices, and the monitoring device may send corresponding information to the remote monitoring platform, so that the remote monitoring platform can control the one or more monitoring device.
  • the monitoring device 11 may acquire link information of the aircraft 12 from the flight feature information, wherein the link information includes a frequency point and/or a bandwidth, and the monitoring The device 11 may transmit the plurality of supervisory control information to the aircraft 12 at the same or different time intervals on the frequency and/or bandwidth based on the frequency and/or bandwidth indicated by the flight characteristic information.
  • the aircraft 12 is configured with a radio frequency front end for receiving supervisory control information, which may be specifically directed to the aircraft when transmitting the plurality of supervisory control information to the aircraft 12 at the same or different time intervals. Transmitting the first supervisory control information, so that the aircraft 12 can control the radio frequency front end to receive the first supervisory control information according to the current radio frequency parameter, and correct the current radio frequency front end according to the signal parameter of the first supervisory control information.
  • RF parameters The monitoring device 11 may transmit second supervisory control information to the aircraft 12 at the same or different time intervals to cause the aircraft 12 to control the radio frequency front end to receive the second supervisory control according to the modified radio frequency parameter.
  • the information, and the supervisory operation that causes the aircraft 12 to perform the supervisory control instructions in the second supervisory control information can control the radio frequency front end to receive the first supervisory control information according to the current radio frequency parameter, and parse the first supervisory control information to determine a signal parameter, such as a signal strength, that the aircraft 12 receives the first supervisory control information, and according to The signal parameter corrects the current RF parameter of the RF front end, and then controls the RF front end to receive the second supervisory control information according to the corrected RF parameter. In this way, the success rate of the aircraft 12 receiving the supervisory control information can be improved.
  • a signal parameter such as a signal strength
  • the first supervisory control information may be any one of the supervisory control information sent by the monitoring device 11 to the aircraft 12 for multiple times of supervisory control information
  • the second supervisory control information may be The monitoring device 11 sends any one of the supervisory control information sent in the supervisory control information to the aircraft after correcting the radio frequency parameter.
  • the content of the first supervisory control information and the second supervisory control information may be the same
  • the radio frequency parameter includes: a gain configuration parameter and/or a correction configuration parameter
  • the signal parameter may be a signal strength and/or a letter. Noise ratio.
  • FIG. 2 is a timing diagram corresponding to an aircraft and a monitoring device according to an embodiment of the present invention.
  • the aircraft may broadcast the subframe 211 of the flight characteristic information, and the monitoring device may send the first supervisory control to the aircraft after receiving the subframe 211 of the flight feature information and the time interval of ⁇ t 1
  • the subframe 221 of the information, the aircraft control radio frequency front end receives the subframe 221 of the first supervisory control information according to the current radio frequency parameter, and according to the signal parameter of the subframe 221 that receives the first supervisory control information, the current radio frequency parameter Performing a correction
  • the monitoring device sends a subframe 222 of the second supervisory control information after the time interval of the interval ⁇ t 2 from the subframe 221 transmitting the first supervisory control information, and the aircraft controls the radio frequency front end according to the corrected radio frequency
  • the parameter receives the subframe 222 of the second supervisory control information, where ⁇ t 1 and ⁇ t 2 are time intervals, wherein ⁇ t 1 and
  • the aircraft 12 may correct the radio frequency parameter of the radio frequency front end according to the received signal parameter of the first regulatory control information, and the specific correction process may be exemplified, and the signal parameter includes the signal strength.
  • the radio frequency parameter includes: an automatic gain control (AGC), if the radio frequency front end of the aircraft 12 receives the signal strength of the first supervisory control information according to the current radio frequency parameter (Received Signal Strength Indication, RSSI)
  • AGC automatic gain control
  • RSSI Received Signal Strength Indication
  • AGC AGC INIT +10*log 10 (RSSI TARGET /RSSI)
  • RSSI TARGET is a constant, which is the target RSSI value to ensure the stable operation of the RF front end of the aircraft.
  • the monitoring device 11 may send first supervisory control information to the aircraft 12 to enable the aircraft 12 to control the radio frequency front end to receive the first supervisory control information according to current radio frequency parameters, and according to the The signal parameters of the first supervisory control information correct the current RF parameters.
  • the monitoring device 11 can receive the corrected radio frequency parameters returned by the aircraft 12 and continue to transmit the second supervisory control information to the aircraft 12 based on the corrected radio frequency parameters.
  • the second supervisory control information is used to instruct the aircraft to supervise a supervisory operation corresponding to the supervisory control command included in the second supervisory control information.
  • the flight feature information includes verification information
  • the regulatory control information includes verification information obtained from the flight feature information
  • the acquired verification information is used to indicate that the aircraft 12 is Determining, by the verification information in the supervisory control information and the verification information in the flight feature information, whether the supervisory control information is valid, and if the aircraft 12 determines that the supervisory control information is valid,
  • the supervisory control instructions included in the control information perform supervisory operations.
  • the monitoring device 11 may package and package the verification information in the flight feature information into the generated regulatory control information, so that the aircraft 12 can receive the regulatory control information after receiving the
  • the verification information is parsed in the regulatory control information, and the parsed verification information is compared with the verification information in the flight characteristic information broadcast by the aircraft 12, and if the comparison results match, the regulatory control may be determined.
  • the information is valid.
  • the verification information may be the verification information related to the aircraft 12, such as a digital signature, or other verification information, which is not limited in the embodiment of the present invention.
  • the supervisory control command may be determined by a detected supervisory setting operation, which may be an operation performed by a user of the monitoring device 11 on the monitoring device 11.
  • the monitoring device 11 may display the acquired flight feature information on the display interface of the monitoring device 11, and the user performs a corresponding supervisory setting operation according to the flight feature information on the display interface. For example, assuming that the location information of the aircraft is displayed on the display interface of the monitoring device 11, if the location information of the aircraft deviates from the preset location area, the user may perform a supervisory setting operation on the user interface of the monitoring device 11 to indicate The aircraft flies to a preset location area.
  • the supervisory control command may be determined by a remote monitoring platform communicatively coupled to the supervisory device 11 by a detected supervisory setting operation, wherein the display interface of the remote monitoring platform may display the The identity information and/or the location information of the aircraft, the user performs a corresponding supervision setting operation on the remote monitoring platform according to the flight feature information on the display interface, and the remote monitoring platform may determine the supervision according to the detected regulatory setting operation. Controlling the instructions and transmitting the supervisory control commands to the monitoring device.
  • the supervisory control instruction may be determined according to the flight feature information.
  • the monitoring device 11 may perform any one of aircraft identity information, location information, signal parameters, and the like in the acquired flight feature information.
  • the supervisory control instruction may be any one of a prompting instruction, a returning instruction, and a landing instruction. For example, if the monitoring device 11 acquires the location information of the aircraft 12, if it is determined according to the location information that the aircraft 12 is out of the preset location area, the monitoring device 11 may automatically generate a return flight instruction and send the return flight instruction to The aircraft 12 is instructed to return the aircraft 12 to a return point.
  • the monitoring device 11 acquires the position information of the aircraft 12, compares the position information of the aircraft 12 with its own position information, and when determining that the distance between the supervisory device 11 and the aircraft 12 is within the first predetermined distance range, the aircraft is 12 transmitting supervisory control information, wherein the supervisory control command in the supervisory control information is a prompting instruction; when it is determined that the distance between the supervisory device 11 and the aircraft 12 is within a second preset distance range, the supervisory control information is sent to the aircraft 12.
  • the supervisory control command in the supervisory control information is a return flight instruction.
  • the supervisory control command in the supervisory control information may include a prompting instruction, and in one embodiment, the monitoring device 11 may send a prompting instruction to the aircraft 12, the prompting instruction for indicating the aircraft 12 to the The control terminal 13 of the aircraft pushes the prompt information so that the user can perform corresponding operational control of the aircraft 12 according to the prompt information displayed on the control terminal 13.
  • the supervisory control command may include a return flight command.
  • the supervisory monitoring device 11 may send a return flight command to the aircraft 12, the return flight command being used to instruct the aircraft 12 to return to a return point, such as a return flight. To the takeoff point.
  • the supervisory control command may include a landing command, and in one embodiment, the monitoring device 11 may send a landing command to the aircraft 12, the landing command is used to indicate that the aircraft 12 is landing, and the aircraft 12 is landing During the process, the surrounding environment can be captured by the camera mounted on the aircraft 12 to select and determine the landing point.
  • FIG. 3 is a schematic flowchart of a control method according to an embodiment of the present invention.
  • the method may be performed by a monitoring device, where a specific explanation of the monitoring device is as described above.
  • the method of the embodiment of the present invention includes the following steps.
  • S301 Receive flight characteristic information sent by the aircraft.
  • the monitoring device may receive the flight feature information sent by the aircraft, where the flight feature information includes any one or more of aircraft identity information, location information, link information, and verification information, and is implemented by the present invention.
  • the flight feature information includes any one or more of aircraft identity information, location information, link information, and verification information, and is implemented by the present invention.
  • the example is not specifically limited.
  • the flight feature information includes aircraft identity information and/or location information
  • the monitoring device may acquire aircraft identity information and/or location information from the received flight feature information, and The aircraft identity information and/or location information is displayed on an interactive interface of the monitoring device. Specific examples are as described above, and are not described herein again.
  • the monitoring device may transmit aircraft identity information and/or location information acquired from the flight feature information to a remote monitoring platform, wherein the monitoring device may monitor the remote device The platform sends information such that the remote monitoring platform can monitor the monitoring device.
  • the remote monitoring platform may also control multiple monitoring devices, which are not specifically limited in the embodiment of the present invention.
  • the monitoring device may send the supervisory control information after receiving the flight feature information, where the supervisory control information includes a supervisory control command, where the supervisory control information is used to instruct the aircraft to perform the The regulatory actions indicated by the supervisory control instructions.
  • the supervisory control information includes link information, and the link information includes a frequency point and/or a bandwidth.
  • the monitoring device may obtain link information including a frequency point and/or a bandwidth from the flight feature information, and according to the link information.
  • the specified frequency and/or bandwidth is sent to the aircraft for the supervisory control information.
  • the monitoring device acquires the frequency point and bandwidth specified by the flight characteristic information, and the monitoring device may send the supervisory control to the aircraft on the specified frequency point and bandwidth. information.
  • the monitoring device may send the plurality of supervisory control information to the aircraft at the same or different time intervals. Specifically, if the time intervals are the same and ⁇ t 1 , the monitoring device may send the supervisory control information to the aircraft at the same time interval ⁇ t 1 after acquiring the flight characteristic information. For another example, if the time intervals are different and are respectively ⁇ t 1 and ⁇ t 2 , the monitoring device may send the supervisory control information to the aircraft for the first time after the time interval ⁇ t 1 after acquiring the flight feature information. And transmitting the supervisory control information to the aircraft for a second time after a time interval of ⁇ t 2 relative to the time when the first time the supervisory control information is sent, wherein the content of the supervisory control information sent twice may be the same.
  • the flight feature information includes verification information
  • the regulatory control information includes verification information obtained by parsing the flight feature information
  • the acquired verification information is used to indicate that the aircraft is in accordance with the And verifying the verification information in the control information and the verification information in the flight characteristic information to determine whether the supervision control information is valid.
  • the flight feature information includes verification information
  • the monitoring device may parse the flight feature information to obtain verification information, and encapsulate the parsed verification information into the regulatory control information. Sending to the aircraft, so that after receiving the regulatory control information, the aircraft may parse and obtain the verification information from the regulatory control information, and the aircraft performs the parsed verification information and the verification information in the flight characteristic information. If the comparison information is matched, the verification information may be determined to be the same as the verification information in the flight feature information, and the regulatory control information may be further determined to be valid.
  • the supervisory control command includes a prompting instruction
  • the monitoring device may send supervisory control information including a prompting instruction to the aircraft, so that the aircraft may, according to the received indication of the prompting instruction, The control terminal of the aircraft pushes the prompt information.
  • the monitoring device may send the supervision control information to the aircraft, so that the aircraft will
  • the prompting instruction in the supervisory control information is pushed to the control terminal of the aircraft for display, and a prompt message such as “Your aircraft enters the supervised area, please pay attention to, etc.” is displayed to remind the user, wherein the control terminal includes: a remote control device , one or more of a smartphone, a tablet, and a wearable device.
  • the supervisory control command includes a return flight command
  • the monitoring device may transmit supervisory control information including a return flight command to the aircraft to cause the aircraft to return based on the obtained indication of the return flight command. For example, if the monitoring control information sent by the monitoring device to the aircraft includes a returning instruction, the monitoring device may send the supervisory control information to the aircraft, so that the aircraft stops according to the returned return instruction in the received regulatory control information. In response to the remote command from the control terminal, it directly returns to the original starting point to stop.
  • the supervisory control command includes a landing command
  • the monitoring device may transmit supervisory control information including a landing command to the aircraft to cause the aircraft to land based on the obtained indication of the landing command. For example, if the monitoring control information sent by the monitoring device to the aircraft includes a landing command, the monitoring device may send the supervisory control information to the aircraft, so that the aircraft may according to the received landing command in the supervisory control information. Stop responding to the remote command from the control terminal and start landing directly from the current position.
  • the monitoring device receives the flight characteristic information sent by the aircraft, and sends the supervisory control information to the aircraft after receiving the flight feature information, so that the aircraft performs the monitoring control information included in the The regulatory actions indicated by the supervisory control instructions. In this way, the supervision and control of the aircraft is realized, and the flight safety of the aircraft is improved.
  • FIG. 4 is a schematic flowchart diagram of another control method according to an embodiment of the present invention.
  • the method may be performed by a monitoring device, where a specific explanation of the monitoring device is as described above.
  • the difference between the embodiment of the present invention and the foregoing embodiment shown in FIG. 3 is that the embodiment of the present invention is a detailed description of the monitoring device transmitting the plurality of supervisory control information to the aircraft at the same time or at different time intervals.
  • S401 Receive flight characteristic information sent by the aircraft.
  • the monitoring device may receive the flight feature information sent by the aircraft, wherein the description of the flight feature information is as described above, and details are not described herein again.
  • the monitoring device may acquire aircraft identity information and/or location information from the flight feature information and display the aircraft identity information and/or location information on an interaction interface of the monitoring device. on. Specific examples are as described above, and are not described herein again.
  • S402 Send first regulatory control information to the aircraft.
  • the monitoring device may send first supervisory control information to the aircraft, so that the aircraft controls the radio frequency front end to receive the first supervisory control information according to the current radio frequency parameter, and according to the first supervisory control
  • the signal parameters of the information modify the current RF parameters of the RF front end. Examples of the process of correcting the radio frequency parameters of the radio frequency front end of the aircraft are as described above, and are not described herein again.
  • S403 Send second supervisory control information to the aircraft.
  • the monitoring device may send second supervisory control information to the aircraft, so that the aircraft control radio frequency front end receives the second supervisory control information according to the modified radio frequency parameter, wherein the The second control information is used to instruct the aircraft to perform a supervisory operation corresponding to the supervisory control command included in the second pipe control information, and the contents of the first supervisory control information and the second supervisory control information may be the same.
  • the second supervisory control information is the second time that the monitoring device sends the supervisory control information to the aircraft.
  • the aircraft corrects an appropriate radio frequency parameter according to the RSSI that receives the supervisory control information for the first time.
  • the AGC gear value when the monitoring device sends the supervisory control information to the aircraft for the second time, the radio frequency front end of the aircraft may receive the supervisory control information for the second time according to the corrected RF parameter AGC gear value.
  • the embodiment solves the problem that the aircraft fails to receive the supervisory control information due to the improper setting of the radio frequency parameters of the radio frequency front end.
  • the monitoring device sends the first supervisory control information to the aircraft, so that the aircraft controls the radio frequency front end to correct the current radio frequency parameter of the radio frequency front end according to the signal parameter of the first supervisory control information, by using the aircraft Sending second supervisory control information, so that the aircraft control radio frequency front end receives the second supervisory control information according to the modified radio frequency parameter, thereby ensuring that the aircraft can better receive the supervisory control information and increase the success rate of receiving the supervisory control information.
  • FIG. 5 is a schematic flowchart diagram of still another control method according to an embodiment of the present invention.
  • the method may be performed by an aircraft, wherein a specific explanation of the aircraft is as described above.
  • the method of the embodiment of the present invention includes the following steps.
  • S501 Broadcast flight characteristic information.
  • the aircraft may broadcast the flight feature information during the flight, wherein the specific description of the flight feature information is as described above, and details are not described herein again.
  • the aircraft may transmit the flight characteristics information to a monitoring device at random time intervals.
  • the time interval is determined according to a preset time interval threshold selected from a preset time interval threshold set, where the preset time interval threshold set includes at least two preset time interval thresholds, as described in the foregoing. , will not repeat them here.
  • S502 Receive supervision control information returned by the monitoring device.
  • the aircraft may receive the supervisory control information returned by the monitoring device multiple times, where the supervisory control information includes a supervisory control command.
  • the aircraft may receive the first time after the flight characteristic information is broadcasted and separated by a preset time interval threshold ⁇ t 1
  • the aircraft may receive the supervisory control returned by the monitoring device again after the interval of the preset time interval threshold ⁇ t 2 is started from the time when the supervisory control information returned by the monitoring device is received for the first time. information.
  • the aircraft may also search for the supervisory control information returned by the monitoring device in real time, which is not specifically limited in the embodiment of the present invention.
  • the aircraft may control the radio frequency front end to receive the first supervisory control information according to the current radio frequency parameter, and to modify the current radio frequency parameter of the radio frequency front end according to the signal parameter of the first supervisory control information received by the radio frequency front end. And controlling the radio frequency front end to receive the second supervisory control information sent by the monitoring device according to the modified radio frequency parameter.
  • the aircraft may perform a supervision operation indicated by the supervisory control instruction included in the supervisory control information according to the received supervisory control information. In one embodiment, the aircraft may perform a supervisory operation indicated by a supervisory control command included in the second supervisory control information.
  • the flight feature information includes verification information, where the supervisory control information includes verification information that is obtained by the monitoring device from the received flight feature information, and in one embodiment, the aircraft receives the regulatory control information.
  • the verification information that is obtained by the monitoring device from the received flight feature information may be parsed from the regulatory control information, and the parsed verification information and the verification information in the flight feature information broadcasted by the aircraft may be For comparison, if the comparison results match, the supervisory control information may be determined to be valid, and the aircraft may perform a supervisory operation indicated by the supervisory control command included in the supervisory control information.
  • the supervisory control information includes a prompting instruction, and the aircraft may push the prompting information to the control terminal of the aircraft according to the prompting instruction.
  • the supervisory control command includes a return flight command, and the aircraft can control the aircraft to return based on the return flight command.
  • the supervisory control command includes a landing command, and the aircraft may control the aircraft to land based on the landing command. The specific examples are as described above, and are not described here.
  • the aircraft receives the supervisory control information returned by the monitoring device by broadcasting the flight feature information during the flight, and after receiving the supervisory control information, executing the supervisory control command included in the supervisory control information. Indicated regulatory action. In this way, the aircraft can perform supervisory control commands issued by the monitoring equipment to achieve supervision and control of the aircraft and improve the flight safety of the aircraft.
  • FIG. 6 is a schematic flowchart diagram of still another control method according to an embodiment of the present invention, where the method may be performed by an aircraft, wherein a specific explanation of the aircraft is as described above.
  • the difference between the embodiment of the present invention and the foregoing embodiment shown in FIG. 5 is that the embodiment of the present invention is a detailed description of the supervisory control information returned by the aircraft receiving monitoring device.
  • S601 Broadcast flight characteristic information.
  • the aircraft may broadcast the flight feature information during the flight, wherein the flight feature information is explained as described above, and details are not described herein again.
  • the aircraft may transmit the flight characteristic information to the monitoring device at random time intervals during the broadcast of the flight characteristic information.
  • the time interval is determined according to a preset time interval threshold selected from a preset time interval threshold set, where the preset time interval threshold set includes at least two preset time interval thresholds. Specific examples are as described above, and are not described herein again.
  • the control radio frequency front end receives the first supervisory control information according to the current radio frequency parameter.
  • the aircraft may control the radio frequency front end to receive the first supervisory control information according to the current radio frequency parameter.
  • the first supervisory control information may be supervisory control information received at any one of the supervisory control information received by the aircraft multiple times. For example, if the first supervisory control information is the supervisory control information received by the aircraft for the first time, the aircraft may control the radio frequency front end to receive the first supervisory control information based on the current radio frequency parameter.
  • S603 Correct the current radio frequency parameter according to a signal parameter that the radio frequency front end receives the first supervisory control information.
  • the aircraft may control the radio frequency front end to modify the current radio frequency parameter of the radio frequency front end according to the signal parameter that receives the first regulatory control information.
  • the specific examples are as described above, and are not described here.
  • the control radio frequency front end continues to receive the second supervisory control information sent by the monitoring device according to the modified radio frequency parameter.
  • the aircraft may control the radio frequency front end to continue to receive the second supervisory control information sent by the monitoring device according to the modified radio frequency parameter of the radio frequency front end, where the first supervisory control information and the The content included in the second regulatory control information may be the same.
  • the aircraft may continue to receive the second supervisory control information sent by the monitoring device based on the corrected radio frequency parameter AGC of the radio frequency front end.
  • S605 Perform a supervision operation indicated by the supervisory control instruction included in the second supervisory control information.
  • the aircraft may perform a supervisory operation corresponding to the supervisory control command included in the second supervisory control information.
  • the policing instruction information may include any one or more of a prompting instruction, a returning instruction, and a landing instruction, which are not specifically limited in the embodiment of the present invention.
  • the supervisory control information may include a prompting instruction, and the aircraft may push the prompting information to the control terminal of the aircraft according to the prompting instruction included in the received supervisory control information.
  • the regulatory control information may include a return flight instruction, and the aircraft may return according to the indication of the return flight instruction included in the received regulatory control information.
  • the supervision control information may include a landing instruction, and the aircraft may drop according to the indication of the landing instruction included in the received regulatory control information. The specific examples are as described above, and are not described here.
  • the aircraft configures the radio frequency parameters of the radio frequency front end according to the signal parameters of the first supervisory control information returned by the receiving monitoring device by broadcasting the flight characteristic information during the flight, and based on the corrected radio frequency front end
  • the radio frequency parameter continues to receive the second supervisory control information sent by the monitoring device, and after receiving the supervisory control information, performs a supervisory operation indicated by the supervisory control command included in the supervisory control information. In this way, the aircraft can perform supervisory operations of the monitoring equipment, improving the flight safety of the aircraft.
  • FIG. 7 is a schematic structural diagram of a monitoring device according to an embodiment of the present invention.
  • the monitoring device includes: a memory 701, a processor 702, and a data interface 703.
  • the memory 701 may include a volatile memory; the memory 701 may also include a non-volatile memory; the memory 701 may also include a combination of the above types of memory.
  • the processor 702 can be a central processing unit (CPU).
  • the processor 702 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. Specifically, for example, it may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.
  • ASIC application-specific integrated circuit
  • PLD programmable logic device
  • FPGA field-programmable gate array
  • the memory 701 is configured to store program instructions, and when the program instructions are executed, the processor 702 may call program instructions stored in the memory 701 for performing the following steps:
  • the supervisory control information After receiving the flight characteristic information, the supervisory control information is sent, where the supervisory control information includes a supervisory control command, and the supervisory control information is used to instruct the aircraft to perform a supervisory operation indicated by the supervisory control instruction.
  • the flight feature information includes any one or more of aircraft identity information, location information, link information, and verification information.
  • flight feature information includes aircraft identity information and/or location information
  • the processor 702 calls the program instructions stored in the memory 701 to perform the following steps:
  • the aircraft identity information and/or location information is displayed on an interactive interface of the monitoring device.
  • flight feature information includes aircraft identity information and/or location information
  • the processor 702 calls the program instructions stored in the memory 701 to perform the following steps:
  • the aircraft identity information and/or location information is transmitted to a remote monitoring platform.
  • flight feature information includes link information
  • the processor 702 calls the program instruction stored in the memory 701 to perform the following steps:
  • the link information includes a frequency point and/or a bandwidth.
  • processor 702 calls the program instructions stored in the memory 701 specifically for performing the following steps:
  • Multiple supervisory control information is sent to the aircraft at the same or different time intervals.
  • processor 702 calls the program instructions stored in the memory 701 specifically for performing the following steps:
  • the second supervisory control information is used to instruct the aircraft to perform a supervisory operation corresponding to the supervisory control instruction included in the second supervisory control information.
  • processor 702 calls the program instructions stored in the memory 701 specifically for performing the following steps:
  • the second supervisory control information is used to instruct the aircraft to perform a supervisory operation corresponding to the supervisory control instruction included in the second supervisory control information.
  • the flight feature information includes verification information
  • the supervisory control information includes verification information obtained by parsing the flight feature information, where the acquired verification information is used to indicate that the aircraft is based on the supervisory control information.
  • the verification information in the verification information and the verification information in the flight characteristic information determine whether the supervision control information is valid.
  • the supervisory control instruction includes a prompting instruction, and the prompting instruction is used to instruct the aircraft to push the prompt information to the control terminal of the aircraft.
  • the supervisory control command includes a return flight instruction, and the return flight command is used to instruct the aircraft to return.
  • the supervisory control command includes a landing command for indicating that the aircraft is landing.
  • the monitoring device receives the flight characteristic information sent by the aircraft, and sends the supervisory control information to the aircraft after receiving the flight feature information, so that the aircraft performs the monitoring control information included in the The regulatory actions indicated by the supervisory control instructions. In this way, the supervision and control of the aircraft is realized, and the flight safety of the aircraft is improved.
  • An embodiment of the present invention further provides an aircraft, including: a fuselage; a power system disposed on the airframe for providing flight power; a processor for broadcasting flight feature information; and receiving supervisory control information returned by the monitoring device,
  • the supervisory control information includes a supervisory control command; after receiving the supervisory control information, performing a supervisory operation indicated by the supervisory control command.
  • the flight feature information includes any one or more of aircraft identity information, location information, link information, and verification information.
  • processor is specifically configured to perform the following steps:
  • the flight characteristic information is transmitted to the monitoring device at random time intervals.
  • the time interval is determined according to a preset time interval threshold selected from a preset time interval threshold set, where the preset time interval threshold set includes at least two preset time interval thresholds.
  • processor is specifically configured to perform the following steps:
  • the control radio front end receives the first supervisory control information according to the current radio frequency parameter
  • the control radio frequency front end continues to receive the second supervisory control information sent by the monitoring device according to the modified radio frequency parameter
  • the processor is specifically configured to perform the following steps:
  • the radio frequency parameter includes: a gain configuration parameter and/or a correction configuration parameter.
  • the flight feature information includes verification information
  • the supervisory control information includes the verification information that is obtained by the monitoring device from the received flight feature information
  • the processor is specifically configured to perform the following steps:
  • the supervisory operation is performed according to the supervisory control command included in the supervisory control information.
  • supervisory control instruction includes a prompting instruction
  • processor is specifically configured to perform the following steps:
  • supervisory control instruction includes a returning instruction
  • processor is specifically configured to perform the following steps:
  • supervisory control instruction includes a drop instruction
  • processor is specifically configured to perform the following steps:
  • the aircraft is controlled to fall according to the landing command.
  • the aircraft receives the supervisory control information returned by the monitoring device by broadcasting the flight feature information during the flight, and after receiving the supervisory control information, executing the supervisory control command included in the supervisory control information. Indicated regulatory action. In this way, the aircraft can perform supervisory operations of the monitoring equipment, improving the flight safety of the aircraft.
  • the embodiment of the invention further provides a control system, comprising: a monitoring device and an aircraft;
  • the monitoring device is configured to receive flight feature information sent by the aircraft, and after receiving the flight feature information, send the supervisory control information, where the supervisory control information includes a supervisory control command;
  • the aircraft is further configured to receive supervisory control information returned by the monitoring device, and after receiving the supervisory control information, perform a supervisory operation indicated by the supervisory control command.
  • the aircraft is specifically configured to send the flight feature information to the monitoring device at random time intervals.
  • the flight feature information includes aircraft identity information and/or location information
  • the monitoring device is configured to acquire the aircraft identity information and/or location information, and display the aircraft identity information and/or location information. On the interactive interface of the monitoring device.
  • the flight feature information includes aircraft identity information and/or location information
  • the monitoring device is configured to acquire the aircraft identity information and/or location information, and send the aircraft identity information and/or location information. Give remote monitoring platform.
  • the flight feature information includes link information
  • the monitoring device is configured to acquire the link information, and send the supervision control information to the aircraft according to the link information.
  • the monitoring device is specifically configured to send the plurality of supervisory control information to the aircraft at the same or different time intervals.
  • the monitoring device is specifically configured to send first supervisory control information to the aircraft, so that the aircraft control radio frequency front end receives the first supervisory control information according to the current radio frequency parameter, and according to the first supervisory control
  • the signal parameter of the information corrects the current radio frequency parameter; transmitting second supervisory control information to the aircraft to cause the aircraft control radio frequency front end to receive the second supervisory control information according to the modified radio frequency parameter; wherein
  • the second supervisory control information is used to instruct the aircraft to perform a supervisory operation corresponding to the supervisory control instruction included in the second supervisory control information.
  • the monitoring device is specifically configured to send first supervisory control information to the aircraft, so that the aircraft control radio frequency front end receives the first supervisory control information according to the current radio frequency parameter, and according to the first supervisory control
  • the signal parameter of the information corrects the current radio frequency parameter; receives the corrected radio frequency parameter returned by the aircraft; and continues to send second supervisory control information to the aircraft according to the modified radio frequency parameter;
  • the second supervisory control information is used to instruct the aircraft to perform a supervisory operation corresponding to the supervisory control command included in the second supervisory control information.
  • the aircraft is specifically configured to control the radio frequency front end to receive the first supervisory control information according to the current radio frequency parameter; correct the current radio frequency parameter according to the signal parameter of the first supervisory control information; and control the radio frequency front end according to the modified The radio frequency parameter continues to receive the second supervisory control information sent by the monitoring device;
  • the aircraft is specifically configured to perform a supervisory operation indicated by a supervisory control instruction included in the second supervisory control information.
  • the flight feature information includes verification information, where the supervisory control information includes verification information that is obtained by the supervisory device from the received flight feature information.
  • the aircraft is specifically configured to determine, according to the verification information in the regulatory control information and the verification information in the flight feature information, whether the supervisory control information is valid; if the determination result is yes, according to the supervisory control information
  • the supervisory control instructions included in the execution of the supervisory operation are specifically configured to determine, according to the verification information in the regulatory control information and the verification information in the flight feature information, whether the supervisory control information is valid; if the determination result is yes, according to the supervisory control information
  • the supervisory control instructions included in the execution of the supervisory operation is specifically configured to determine, according to the verification information in the regulatory control information and the verification information in the flight feature information, whether the supervisory control information is valid; if the determination result is yes, according to the supervisory control information
  • the supervisory control instructions included in the execution of the supervisory operation are specifically configured to determine, according to the verification information in the regulatory control information and the verification information in the flight feature information, whether the supervisory control information is valid; if the determination result is yes, according to the supervisory control information
  • the supervisory control instruction includes a prompt instruction
  • the aircraft is specifically configured to push prompt information to the control terminal of the aircraft according to the prompting instruction.
  • supervisory control instruction includes a return instruction
  • the aircraft is specifically configured to control the return of the aircraft according to the return flight instruction.
  • the supervisory control instruction includes a landing instruction
  • the aircraft is specifically configured to control the aircraft to land according to the landing command.
  • the monitoring device receives the flight characteristic information sent by the aircraft, and sends the supervisory control information to the aircraft after receiving the flight feature information, so that the aircraft performs the monitoring control information included in the The regulatory actions indicated by the supervisory control instructions. In this way, the supervision and control of the aircraft is realized, and the flight safety of the aircraft is improved.
  • FIG. 6 Also provided in an embodiment of the present invention is a computer readable storage medium storing a computer program that, when executed by a processor, implements the present invention in FIGS. 3, 4, and 5
  • the control system corresponding to the embodiment shown in FIG. 6 can also implement the control system corresponding to FIG. 1.
  • the monitoring device of the embodiment of the present invention is not described here.
  • the computer readable storage medium may be an internal storage unit of the device described in any of the preceding embodiments, such as a hard disk or a memory of the device.
  • the computer readable storage medium may also be an external storage device of the device, such as a plug-in hard disk equipped on the device, a smart memory card (SMC), and a secure digital (SD) card. , Flash Card, etc.
  • the computer readable storage medium may also include both an internal storage unit of the device and an external storage device.
  • the computer readable storage medium is for storing the computer program and other programs and data required by the terminal.
  • the computer readable storage medium can also be used to temporarily store data that has been output or is about to be output.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

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Abstract

一种控制方法、设备、飞行器（12）、系统及存储介质，其中，该方法包括：接收飞行器（12）发送的飞行特征信息（S301，S401）；在接收到所述飞行特征信息后，发送监管控制信息(S302)，其中，所述监管控制信息包括监管控制指令，所述监管控制信息用于指示所述飞行器(12)执行所述监管控制指令所指示的监管操作。通过这种方式，实现了对飞行器(12)的监管和控制，提高了飞行器(12)的飞行安全程度。

Description

一种控制方法、设备、飞行器、系统及存储介质 技术领域
本发明涉及控制技术领域，尤其涉及一种控制方法、设备、飞行器、系统及存储介质。
背景技术
随着计算机技术的发展，无人飞行器的发展越来越快，同时吸引了越来越多的消费者使用无人飞行器。在给广大消费者带来新的体验的同时，无人飞行器也给社会带来一些潜在风险和危机无人飞行器，其潜在的风险和危机包括：无人飞行器侵犯个人隐私、无人飞行器黑飞、闯入国家军事机密地、危害公共安全等等。因此，急需一种有效的监管通信机制对无人飞行器进行监管。
发明内容
本发明实施例提供了一种控制方法、设备、飞行器、系统及存储介质，可对飞行器进行更有效地监管和控制。
第一方面，本发明实施例提供了一种控制方法，应用于监控设备，包括：
接收飞行器发送的飞行特征信息；
在接收到所述飞行特征信息后发送监管控制信息，其中，所述监管控制信息包括监管控制指令，所述监管控制信息用于指示所述飞行器执行所述监管控制指令所指示的监管操作。
第二方面，本发明实施例提供了另一种控制方法，应用于飞行器，包括：
广播飞行特征信息；
接收监控设备返回的监管控制信息，其中，所述监管控制信息中包括监管控制指令；
在接收到所述监管控制信息后，执行所述监管控制指令所指示的监管操作。
第三方面，本发明实施例提供了一种监控设备，包括存储器和处理器；
所述存储器，用于存储程序指令；
所述处理器，执行所述存储器存储的程序指令，当程序指令被执行时，所 述处理器用于执行如下步骤：
接收飞行器发送的飞行特征信息；
在接收到所述飞行特征信息后，发送监管控制信息，其中，所述监管控制信息包括监管控制指令，所述监管控制信息用于指示所述飞行器执行所述监管控制指令所指示的监管操作。
第四方面，本发明实施例提供了一种飞行器，包括：
机身；
设置在机身上的动力系统，用于提供飞行动力；
处理器，用于广播飞行特征信息；接收监控设备返回的监管控制信息，其中，所述监管控制信息中包括监管控制指令；在接收到所述监管控制信息后，执行所述监管控制指令所指示的监管操作。
第五方面，本发明实施例提供了一种控制系统，包括：监控设备和飞行器，
所述飞行器，用于广播飞行特征信息；
所述监控设备，用于接收飞行器发送的飞行特征信息，在接收到所述飞行特征信息后，发送监管控制信息，其中，所述监管控制信息中包括监管控制指令；
所述飞行器，还用于接收监控设备返回的监管控制信息，并在接收到所述监管控制信息后，执行所述监管控制指令所指示的监管操作。
第六方面，本发明实施例提供了一种计算机可读存储介质，该计算机可读存储介质存储有计算机程序，该计算机程序被处理器执行时实现如上述第一方面或第二方面所述的控制方法。
本发明实施例中，监控设备通过接收飞行器发送的飞行特征信息，并在接收到所述飞行特征信息后，向飞行器发送监管控制信息，以使所述飞行器执行所述监管控制信息中包括的监管控制指令所指示的监管操作。通过这种方式，实现了对飞行器的监管和控制，提高了飞行器的飞行安全程度。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的 前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例提供的一种控制系统的结构示意图；
图2是本发明实施例提供的一种飞行器和监控设备对应的时序图；
图3是本发明实施例提供的一种控制方法的流程示意图；
图4是本发明实施例提供的另一种控制方法的流程示意图；
图5是本发明实施例提供的又一种控制方法的流程示意图；
图6是本发明实施例提供的又一种控制方法的流程示意图；
图7是本发明实施例提供的一种监控设备的结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
本发明实施例中提供的控制方法可以由一种控制系统执行，所述控制系统包括监控设备和飞行器，所述监控设备和飞行器之间可以进行双向通信。在一个实施例中，所述飞行器可以广播飞行特征信息，监控设备可以配置有一个或多个探测器，所述一个或多个探测器可以实时地对飞行器可能工作的频点进行扫描以接收所述飞行特征信息。在接收到所述飞行特征信息之后，所述监控设备可以向所述飞行器发送监管控制信息。在某些实施例中，所述监管控制信息中包括监管控制指令，所述监控设备可以根据接收到的飞行特征信息向所述飞行器发送监管控制指令，以监管和控制所述飞行器的飞行、降落、拍照、录像等操作。所述监控设备可以设置在特定的位置区域，其中，所述特定的位置区域可以包括如机场、政府机构所在地、军事管理区等区域，所述特定的位置区域上可以设置多个监控设备。在其他实施例中，所述控制方法还可以应用于其他可移动设备上，如能够自主移动的机器人、无人汽车、移动终端(如手机)等可移动设备，下面对应用于由监控设备和飞行器组成的系统的控制方法进行说明。
具体请参见图1，图1是本发明实施例提供的一种控制系统的结构示意图。所述系统包括：监控设备11、飞行器12、控制终端13。其中，飞行器12和监控设备11之间可以通过无线通信连接方式建立通信连接。其中，在某些特定的场景下，所述飞行器12和监控设备之间也可以通过有线通信连接方式建立通信连接。所述飞行器12可以是无人飞行器、具体地为旋翼型无人飞行器，例如，四旋翼无人飞行器、六旋翼无人飞行器、八旋翼无人飞行器，也可以是固定翼无人飞行器等飞行器。所述飞行器12包括动力系统121，所述动力系统121用于为飞行器12提供飞行动力，其中，动力系统121包括螺旋桨、电机、电调中的任意一种或多种，飞行器12还可以包括云台122以及拍摄装置123，拍摄装置123通过云台122搭载于飞行器12的主体上。所述拍摄装置123包括但不限于多光谱成像仪、高光谱成像仪、可见光相机及红外相机等，所述云台122为多轴传动及增稳系统，云台电机通过调整转动轴的转动角度来对成像设备的拍摄角度进行补偿，并通过设置适当的缓冲机构来防止或减小成像设备的抖动。所述控制终端13用于向所述飞行器12发送遥控指令，以控制飞行器12的飞行。
本发明实施例中，所述飞行器12可以发送飞行特征信息，例如飞行器在飞行的过程中广播飞行特征信息，当所述监控设备11接收到所述飞行特征信息时，可以从所述飞行特征信息中获取到所述飞行器12的链路信息，其中，所述链路信息包括频点和/或带宽。所述监控设备11在接收到所述飞行特征信息后，可以根据所述链路信息中所指示的频点和/或带宽向所述飞行器12发送监管控制信息，其中，所述监管控制信息中包括监管控制指令。所述飞行器12在接收到所述监控设备11返回的监管控制信息后，可以执行所述监管控制指令所指示的监管操作。本发明实施例通过实现监控设备11和飞行器12之间的双向通信，来实现监控设备11对飞行器12的监管和控制。
在一个实施例中，所述飞行器12可以通过随机的时间间隔向所述监控设备11发送飞行特征信息，通过这种方式可以降低多个飞行器同时发送飞行特征信息的持续冲突的可能性，例如，假设飞行器发送飞行特征信息的时间间隔是一个固定值△t，如果有两台飞行器在某一次同时发送飞行特征信息，那么这两台飞行器随后每次间隔固定值△t发送飞行特征信息的时间都相同，必然会在发送时间上产生持续的冲突，但是如果采用本发明实施例所述的以随机的时 间间隔发送飞行特征信息，那么两台飞行器可以间隔不同的时间间隔发送飞行特征信息，从而降低多个飞行器同时发送飞行特征信息的持续冲突的可能性。
在一个实施例中，所述时间间隔是根据从预设时间间隔阈值集合中选择的预设时间间隔阈值确定的，其中，所述预设时间间隔阈值集合包括至少两个预设时间间隔阈值。例如，假设所述预设时间间隔阈值集合为{△t a,△t b,△t c}，则所述时间间隔可以是从所述集合{△t a,△t b,△t c}中选择确定的时间间隔，如△t a。当然，在其他实施例中，所述时间间隔也可以依次或者按照某个预置的筛选规则从中选择出时间间隔。在其他实施例中，所述飞行器发送所述飞行特征信息的时间间隔可以取决于所述飞行器的飞行特征信息的更新速度，例如，常见的飞行器的飞行特征信息的更新速度取值范围为0.5s～2s，即所述时间间隔的取值范围为0.5s～2s。
所述飞行器12广播的飞行特征信息中还包括飞行器身份信息和/或位置信息，在一个实施例中，所述监控设备11在接收到飞行特征信息时，可以从接收到的所述飞行特征信息中获取到飞行器身份信息和/或位置信息，并可以将获取到的所述飞行器身份信息和/或位置信息显示在所述监控设备11的交互界面上，以供控制所述监控设备11的用户查看。
在一个实施例中，所述飞行器身份信息可以包括所述飞行器的标识信息(例如SN码)、机型信息、飞行器的发动机编号、人为为飞行器所编的标号等与所述飞行器身份相关的信息，本发明实施例不做具体限定。所述位置信息可以包括所述飞行器的飞行位置信息，其中，所述位置信息可以是飞行器上配置的卫星定位设备(例如全球定位系统(Global Positioning System，GPS))输出的位置信息。具体可举例说明，假设监控设备11在接收到飞行特征信息时，从所述飞行特征信息中获取到飞行器12的SN码和位置信息，则所述监控设备11可以将获取到的所述飞行器12的SN码和位置信息显示在所述监控设备11的交互界面上以供用户查看。
在一个实施例中，所述监控设备11可以在获取到飞行特征信息中的飞行器身份信息和/或位置信息时，可以将所述飞行器身份信息和/或位置信息发送给远程监控平台，以使该远程监控平台可以显示所述飞行器的身份信息和/或位置信息，以供所述远程监控平台的控制人员根据该飞行器的身份信息和/或位置信息对飞行器12进行监控。其中，所述远程监控平台可以与一个或多个 监控设备相连接，所述监控设备可以向所述远程监控平台发送对应的信息，以使所述远程监控平台可以控制所述一个或多个监控设备。
所述监控设备11在接收到所述飞行特征信息之后，可以从所述飞行特征信息中获取到飞行器12的链路信息，其中，所述链路信息包括频点和/或带宽，所述监控设备11可以根据所述飞行特征信息所指示的频点和/或带宽，在所述频点和/或带宽上向所述飞行器12以相同或者不相同的时间间隔发送多次监管控制信息。
在一个实施例中，飞行器12配置有用于接收监管控制信息的射频前端，所述监控设备11在向所述飞行器12以相同或者不相同的时间间隔发送多次监管控制信息时，具体可以向飞行器12发送第一监管控制信息，以使所述飞行器12可以控制射频前端根据当前的射频参数接收所述第一监管控制信息，并根据所述第一监管控制信息的信号参数修正所述射频前端当前的射频参数。所述监控设备11可以向所述飞行器12以相同或者不相同的时间间隔发送第二监管控制信息，以使所述飞行器12控制所述射频前端根据修正后的射频参数接收所述第二监管控制信息，以及使飞行器12执行所述第二监管控制信息中的监管控制指令指示的监管操作。即飞行器12可以控制射频前端按照当前的射频参数接收第一监管控制信息，并对第一监管控制信息进行解析以确定飞行器12接收所述第一监管控制信息的信号参数，例如信号强度，并根据信号参数修正射频前端的当前的射频参数，然后再控制射频前端按照修正后的射频参数去接收第二监管控制信息，通过这种方式可以提高飞行器12接收到监管控制信息的成功率。在一个实施例中，所述第一监管控制信息可以是所述监控设备11向所述飞行器12发送多次监管控制信息中发送的任意一次监管控制信息，所述第二监管控制信息可以是所述监控设备11向修正射频参数后的飞行器发送多次监管控制信息中发送的任意一次监管控制信息。所述第一监管控制信息和第二监管控制信息的内容可以是相同的，所述射频参数包括：增益配置参数和/或校正配置参数，另外，所述信号参数可以是信号强度和/或信噪比。
具体可以图2为例进行说明，图2是本发明实施例提供的一种飞行器和监控设备对应的时序图。如图2所示，飞行器可以广播飞行特征信息的子帧211，监控设备可以在接收到该飞行特征信息的子帧211且间隔△t 1的时间间隔后，向所述飞行器发送第一监管控制信息的子帧221，飞行器控制射频前端按照当 前的射频参数接收所述第一监管控制信息的子帧221，并根据接收所述第一监管控制信息的子帧221的信号参数对当前的射频参数进行修正，所述监控设备从发送第一监管控制信息的子帧221开始间隔△t 2的时间间隔之后，发送第二监管控制信息的子帧222，所述飞行器控制射频前端按照修正后的射频参数接收所述第二监管控制信息的子帧222，其中，△t 1和△t 2为时间间隔，其中，△t 1和△t 2可以是相同的时间间隔，也可以是不相同的时间间隔。
在一个实施例中，所述飞行器12可以根据接收到的所述第一监管控制信息的信号参数对射频前端的射频参数进行修正，具体的修正过程可举例说明，假设所述信号参数包括信号强度，所述射频参数包括：增益配置参数(automatic gain control，AGC)，如果所述飞行器12的射频前端按照当前的射频参数接收到所述第一监管控制信息的信号强度(Received Signal Strength Indication，RSSI)，则所述飞行器12可以控制射频前端根据接收到所述第一监管控制信息的所述信号强度RSSI，计算接收第二监管控制信息所需要配置的射频参数AGC的合适值为：
AGC＝AGC INIT+10*log 10(RSSI TARGET/RSSI)
其中，RSSI TARGET是一个常量，是为保证飞行器的射频前端能够稳定工作的的目标RSSI值。
在另一个实施例中，所述监控设备11可以向飞行器12发送第一监管控制信息，以使所述飞行器12可以控制射频前端根据当前的射频参数接收所述第一监管控制信息，并根据所述第一监管控制信息的信号参数修正当前的射频参数。监控设备11可以接收飞行器12返回的修正后的射频参数，并根据修正后的射频参数继续向所述飞行器12发送第二监管控制信息。其中，所述第二监管控制信息用于指示所述飞行器执监所述第二监管控制信息中包括的监管控制指令对应的监管操作。
在一个实施例中，所述飞行特征信息中包括验证信息，所述监管控制信息中包括从所述飞行特征信息中解析获取的验证信息，所述获取的验证信息用于指示所述飞行器12根据所述监管控制信息中的验证信息和所述飞行特征信息中的验证信息，确定出所述监管控制信息是否有效，如果所述飞行器12确定出所述监管控制信息有效，则可以根据所述监管控制信息中包括的监管控制指令执行监管操作。具体地，监控设备11在接收到飞行特征信息后可以将所述 飞行特征信息中的验证信息打包封装至生成的监管控制信息中，以使飞行器12在接收到所述监管控制信息后，可以从所述监管控制信息中解析得到验证信息，并将解析出的所述验证信息与所述飞行器12广播的飞行特征信息中的验证信息进行比较，如果比较结果相匹配，则可以确定所述监管控制信息有效。其中，所述验证信息可以是与所述飞行器12相关的验证信息如数字签名，也可以是其他验证信息，本发明实施例不做限定。
在一个实施例中，所述监管控制指令可以是通过检测到的监管设置操作确定的，所述监管设置操作可以是监控设备11的用户对监控设备11所做的操作。具体地，所述监控设备11可以将获取到的飞行特征信息显示在监控设备11的显示界面上，用户根据所述显示界面上的飞行特征信息执行相应的监管设置操作。例如，假设所述监控设备11的显示界面上显示的是飞行器的位置信息，如果所述飞行器的位置信息偏离预设位置区域，则用户可以在监控设备11的用户界面进行监管设置操作，以指示所述飞行器飞行至预设位置区域。
在一个实施例中，所述监管控制指令可以是与监管设备11通信连接的远程监控平台通过检测到的监管设置操作确定的，其中，如前所述，远程监控平台的显示界面可以显示所述飞行器的身份信息和/或位置信息，用户根据所述显示界面上的飞行特征信息在所述远程监控平台上执行相应的监管设置操作，所述远程监控平台可以根据检测到的监管设置操作确定监管控制指令，并将所述监管控制指令发送给所述监控设备。在一个实施例中，所述监管控制指令可以是根据飞行特征信息确定的，具体地，所述监控设备11可以根据获取到的飞行特征信息中的飞行器身份信息、位置信息、信号参数等任意一种或多种信息，生成监管控制指令，其中，所述监管控制指令可以是提示指令、返航指令、降落指令等任意一种指令。例如，假设监控设备11获取到飞行器12的位置信息，如果根据该位置信息确定出所述飞行器12脱离了预设位置区域，则监控设备11可以自动生成返航指令，并将所述返航指令发送给所述飞行器12，以指示所述飞行器12返航至返航点。或者，监控设备11获取到飞行器12的位置信息，将飞行器12的位置信息与自身的位置信息进行比较，当确定监管设备11与飞行器12之间的距离位于第一预设距离范围时，向飞行器12发送监管控制信息，其中，所述监管控制信息中的监管控制指令为提示指令；当确定监管设备11与飞行器12之间的距离位于第二预设距离范围时，向飞行器12 发送监管控制信息，其中，所述监管控制信息中的监管控制指令为返航指令。
所述监管控制信息中的监管控制指令可以包括提示指令，在一个实施例中，所述监控设备11可以向所述飞行器12发送提示指令，所述提示指令用于指示所述飞行器12向所述飞行器的控制终端13推送提示信息，以使用户可以根据所述控制终端13上显示的提示信息对飞行器12进行对应的操作控制。
所述监管控制指令可以包括返航指令，在一个实施例中，所述监监控设备11可以向所述飞行器12发送返航指令，所述返航指令用于指示所述飞行器12返航至返航点，例如返航至起飞点。
所述监管控制指令可以包括降落指令，在一个实施例中，所述监控设备11可以向所述飞行器12发送降落指令，所述降落指令用于指示所述飞行器12降落，所述飞行器12在降落过程中可以通过挂载在飞行器12上的摄像装置拍摄获取周围环境，以选取确定出降落点。
下面结合附图对应用于监控设备和飞行器的控制方法进行举例说明。
请参见图3，图3是本发明实施例提供的一种控制方法的流程示意图，所述方法可以由监控设备执行，其中，所述监控设备的具体解释如前所述。具体地，本发明实施例的所述方法包括如下步骤。
S301：接收飞行器发送的飞行特征信息。
本发明实施例中，监控设备可以接收飞行器发送的飞行特征信息，其中，所述飞行特征信息包括飞行器身份信息、位置信息、链路信息、验证信息中的任意一种或多种，本发明实施例不做具体限定。
所述飞行特征信息中包括飞行器身份信息和/或位置信息，在一个实施例中，所述监控设备可以从接收到的所述飞行特征信息中获取到飞行器身份信息和/或位置信息，并将所述飞行器身份信息和/或位置信息显示在所述监控设备的交互界面上。具体举例如上所述，此处不再赘述。在另一个实施例中，所述监控设备可以将从所述飞行特征信息中获取到的飞行器身份信息和/或位置信息，发送给远程监控平台，其中，所述监控设备可以向所述远程监控平台发送信息，以使所述远程监控平台可以监控所述监控设备。在其他实施例中，所述远程监控平台还可以控制多个监控设备，本发明实施例不做具体限定。
S302：在接收到所述飞行特征信息后，发送监管控制信息。
本发明实施例中，监控设备可以在接收到所述飞行特征信息后，发送监管 控制信息，其中，所述监管控制信息包括监管控制指令，所述监管控制信息用于指示所述飞行器执行所述监管控制指令所指示的监管操作。
所述监管控制信息中包括链路信息，所述链路信息包括频点和/或带宽。在一个实施例中，所述监控设备在接收到所述飞行特征信息后，可以从所述飞行特征信息中获取到包括频点和/或带宽的链路信息，并根据所述链路信息中所指定的频点和/或带宽，向所述飞行器发送所述监管控制信息。例如，监控设备在检测到飞行特征信息后，获取到所述飞行特征信息所指定的频点和带宽，则所述监控设备可以在所述指定的频点和带宽上向所述飞行器发送监管控制信息。
在一个实施例中，所述监控设备在接收到所述飞行特征信息后，可以向所述飞行器以相同或者不相同的时间间隔发送多次监管控制信息。具体可举例说明，假设所述时间间隔相同，且为△t 1，则所述监控设备可以在获取飞行特征信息后，向所述飞行器以相同的时间间隔△t 1发送两次监管控制信息。又例如，假设所述时间间隔不同，且分别为△t 1和△t 2，则所述监控设备可以在获取飞行特征信息后，以间隔△t 1时间后第一次向飞行器发送监管控制信息，在相对于第一次发送监管控制信息的时间再间隔△t 2时间后第二次向所述飞行器发送该监管控制信息，其中，两次发送的监管控制信息内容可以相同。
在一个实施例中，所述飞行特征信息包括验证信息，所述监管控制信息中包括从所述飞行特征信息中解析获取的验证信息，所述获取的验证信息用于指示所述飞行器根据所述监管控制信息中的验证信息和所述飞行特征信息中的验证信息，确定所述监管控制信息是否有效。具体地，所述飞行特征信息中包括了验证信息，所述监控设备可以在接收到所述飞行特征信息后对其进行解析以获取验证信息，并将解析得到的验证信息封装至监管控制信息中发送给飞行器，以使所述飞行器在接收到所述监管控制信息之后，可以从该监管控制信息中解析获取到验证信息，所述飞行器将解析得到的验证信息与飞行特征信息中的验证信息进行比较，如果比较得到两者验证信息相匹配，则可以判断所述验证信息与所述飞行特征信息中的验证信息相同，进一步可以确定所述监管控制信息有效。
在一个实施例中，所述监管控制指令包括提示指令，所述监控设备可以向飞行器发送包括提示指令的监管控制信息，以使所述飞行器可以根据接收到的 所述提示指令的指示，向所述飞行器的控制终端推送提示信息。例如，假设监控设备向飞行器发送的监管控制信息中包括提示指令，且该提示指令为飞行器进入监管区域的指令，则该监控设备可以向飞行器发送该监管控制信息，以使所述飞行器将所述监管控制信息中的提示指令推送给所述飞行器的控制终端显示，并弹出提示信息如“您的飞行器进入了被监管区域，请注意”等来提醒用户，其中，所述控制终端包括：遥控设备、智能手机、平板电脑、可穿戴设备中的一种或多种。
在一个实施例中，所述监管控制指令包括返航指令，所述监控设备可以向飞行器发送包括返航指令的监管控制信息，以使所述飞行器根据获取到的所述返航指令的指示返航。例如，假设监控设备向飞行器发送的监管控制信息中包括返航指令，则该监控设备可以向飞行器发送该监管控制信息，以使所述飞行器根据接收到的所述监管控制信息中的返航指令，停止响应来自控制终端的遥控命令，直接返航至原始出发点停止。
在一个实施例中，所述监管控制指令包括降落指令，所述监控设备可以向飞行器发送包括降落指令的监管控制信息，以使所述飞行器根据获取到的所述降落指令的指示降落。例如，假设监控设备向飞行器发送的监管控制信息中包括降落指令，则该监控设备可以向飞行器发送该监管控制信息，以使所述飞行器可以根据接收到的所述监管控制信息中的降落指令，停止响应来自控制终端的遥控命令，直接从当前位置开始降落。
本发明实施例中，监控设备通过接收飞行器发送的飞行特征信息，并在接收到所述飞行特征信息后向所述飞行器发送监管控制信息，以使所述飞行器执行所述监管控制信息中包括的监管控制指令所指示的监管操作。通过这种方式，实现了对飞行器的监管和控制，提高了飞行器的飞行安全程度。
请参见图4，图4是本发明实施例提供的另一种控制方法的流程示意图，所述方法可以由监控设备执行，其中，监控设备的具体解释如前所述。本发明实施例与上述图3所述实施例的区别在于，本发明实施例是对监控设备向所述飞行器以相同或者不相同的时间间隔发送多次监管控制信息的详细说明。
S401：接收飞行器发送的飞行特征信息。
本发明实施例中，监控设备可以接收飞行器发送的飞行特征信息，其中，所述飞行特征信息的解释如上所述，此处不再赘述。
在一个实施例中，所述监控设备可以从所述飞行特征信息中获取到飞行器身份信息和/或位置信息，并将所述飞行器身份信息和/或位置信息显示在所述监控设备的交互界面上。具体举例如上所述，此处不再赘述。
S402：向飞行器发送第一监管控制信息。
本发明实施例中，所述监控设备可以向飞行器发送第一监管控制信息，以使所述飞行器控制射频前端根据当前的射频参数接收所述第一监管控制信息，并根据所述第一监管控制信息的信号参数修正所述射频前端的当前射频参数。关于所述飞行器的射频前端对射频参数的修正过程的举例如上所述，此处不再赘述。
S403：向所述飞行器发送第二监管控制信息。
本发明实施例中，所述监控设备可以向所述飞行器发送第二监管控制信息，以使所述飞行器控制射频前端根据修正后的射频参数接收所述第二监管控制信息，其中，所述第二管控制信息用于指示所述飞行器执行所述第二管控制信息中包括的监管控制指令对应的监管操作，所述第一监管控制信息和第二监管控制信息的内容可以相同。
具体可举例说明，假设所述第二监管控制信息是监控设备第二次向飞行器发送的监管控制信息，沿用上述举例，由于飞行器根据第一次接收监管控制信息的RSSI修正出一个合适的射频参数AGC档位值，当所述监控设备第二次向所述飞行器发送该监管控制信息时，所述飞行器的射频前端可以根据修正后的射频参数AGC挡位值第二次接收该监管控制信息，以使所述飞行器可以更有效地接收监管控制信息。由此可见，该实施方式解决了由于射频前端的射频参数设置不合适所导致的飞行器接收监管控制信息失败的问题。
本发明实施例中，监控设备通过向飞行器发送第一监管控制信息，以使所述飞行器控制射频前端根据所述第一监管控制信息的信号参数修正射频前端的当前射频参数，通过向所述飞行器发送第二监管控制信息，以使所述飞行器控制射频前端根据修正后的射频参数接收所述第二监管控制信息，从而保证飞行器能够更好地接收监管控制信息，增加接收监管控制信息的成功率。
请参见图5，图5是本发明实施例提供的又一种控制方法的流程示意图，所述方法可以由飞行器执行，其中，飞行器的具体解释如前所述。具体地，本发明实施例的所述方法包括如下步骤。
S501：广播飞行特征信息。
本发明实施例中，飞行器可以在飞行过程中广播飞行特征信息，其中，所述飞行特征信息的具体解释如前所述，此处不再赘述。
在一个实施例中，所述飞行器可以通过随机的时间间隔向监控设备发送所述飞行特征信息。其中，所述时间间隔是根据从预设时间间隔阈值集合中选择的预设时间间隔阈值确定的，所述预设时间间隔阈值集合包括至少两个预设时间间隔阈值，具体举例如前所述，此处不再赘述。
S502：接收监控设备返回的监管控制信息。
本发明实施例中，所述飞行器可以多次接收监控设备返回的监管控制信息，其中，所述监管控制信息中包括监管控制指令。具体可举例说明，假设所述飞行器两次接收到所述监控设备返回的监管控制信息，则所述飞行器可以在广播飞行特征信息，并间隔预设时间间隔阈值△t 1后，第一次接收到监控设备返回的监管控制信息，所述飞行器可以从第一次接收到所述监控设备返回的监管控制信息的时刻开始间隔预设时间间隔阈值△t 2之后，再次接收监控设备返回的监管控制信息。当然，在其他实施例中，所述飞行器也可以同步实时地搜索接收所述监控设备返回的监管控制信息，本发明实施例不做具体限定。
在一个实施例中，所述飞行器可以控制射频前端根据当前的射频参数接收第一监管控制信息，以及根据射频前端接收到的所述第一监管控制信息的信号参数强修正射频前端的当前射频参数，并控制所述射频前端根据修正后的射频参数接收所述监控设备发送的第二监管控制信息。具体举例如前所述，此处不再赘述。
S503：在接收到所述监管控制信息后，执行所述监管控制信息中包括的监管控制指令所指示的监管操作。
本发明实施例中，所述飞行器可以根据接收到的所述监管控制信息，执行所述监管控制信息中包括的监管控制指令所指示的监管操作。在一个实施例中，所述飞行器可以执行所述第二监管控制信息中包括的监管控制指令所指示的监管操作。
所述飞行特征信息中包括验证信息，所述监管控制信息中包括监控设备从接收到的飞行特征信息中解析获取的验证信息，在一个实施例中，所述飞行器在接收到所述监管控制信息后，可以从所述监管控制信息中解析出监控设备从 接收到的飞行特征信息中解析获取的验证信息，并将解析出的所述验证信息与所述飞行器广播的飞行特征信息中的验证信息进行比较，如果比较结果相匹配，则可以判断所述监管控制信息为有效，所述飞行器可以执行所述监管控制信息中包括的监管控制指令所指示的监管操作。
在一个实施例中，所述监管控制信息中包括提示指令，所述飞行器可以根据所述提示指令向所述飞行器的控制终端推送提示信息。具体举例如前所述，此处不再赘述。在一个实施例中，所述监管控制指令包括返航指令，所述飞行器可以根据所述返航指令控制所述飞行器返航。具体举例如前所述，此处不再赘述。在一个实施例中，所述监管控制指令包括降落指令，所述飞行器可以根据所述降落指令控制所述飞行器降落。具体举例如前所述，此处不再赘述。
本发明实施例中，飞行器通过在飞行过程中广播飞行特征信息，接收监控设备返回的监管控制信息，并在接收到所述监管控制信息后，执行所述监管控制信息中包括的监管控制指令所指示的监管操作。通过这种方式，飞行器可执行监控设备发出的监管控制指令，以实现对飞行器的监管和控制，提高了飞行器的飞行安全程度。
请参见图6，图6是本发明实施例提供的又一种控制方法的流程示意图，所述方法可以由飞行器执行，其中，所述飞行器的具体解释如前所述。本发明实施例与上述图5所述实施例的区别在于，本发明实施例是对所述飞行器接收监控设备返回的监管控制信息的详细说明。
S601：广播飞行特征信息。
本发明实施例中，飞行器可以在飞行过程中广播飞行特征信息，其中，所述飞行特征信息的解释如前所述，此处不再赘述。在一个实施例中，所述飞行器在广播飞行特征信息的过程中，可以通过随机的时间间隔向监控设备发送所述飞行特征信息。其中，所述时间间隔是根据从预设时间间隔阈值集合中选择的预设时间间隔阈值确定的，所述预设时间间隔阈值集合包括至少两个预设时间间隔阈值。具体举例如上所述，此处不再赘述。
S602：控制射频前端根据当前的射频参数接收第一监管控制信息。
本发明实施例中，所述飞行器可以控制射频前端根据当前的射频参数接收第一监管控制信息。所述第一监管控制信息可以是所述飞行器多次接收到的监管控制信息中的任意一次接收到的监管控制信息。例如，假设所述第一监管控 制信息是所述飞行器第一次接收到的监管控制信息，则所述飞行器可以控制射频前端基于当前的射频参数接收所述第一监管控制信息。
S603：根据射频前端接收到所述第一监管控制信息的信号参数修正所述当前的射频参数。
本发明实施例中，所述飞行器可以控制射频前端根据接收到所述第一监管控制信息的信号参数修正射频前端的当前射频参数。具体的举例说明如前所述，此处不再赘述。
S604：控制射频前端根据所述修正后的射频参数继续接收所述监控设备发送的第二监管控制信息。
本发明实施例中，所述飞行器可以控制射频前端根据所述射频前端的修正后的射频参数继续接收所述监控设备发送的第二监管控制信息，其中，所述第一监管控制信息和所述第二监管控制信息所包括的内容可以相同。例如，所述飞行器可以基于所述射频前端修正后的射频参数AGC继续接收所述监控设备发送的第二监管控制信息。
S605：执行所述第二监管控制信息中包括的监管控制指令所指示的监管操作。
本发明实施例中，所述飞行器在接收到所述监控设备发送的第二监管控制信息之后，可以执行所述第二监管控制信息中包括的监管控制指令对应的监管操作。所述监管控制信息中可以包括提示指令、返航指令、降落指令中的任意一种或多种，本发明实施例不做具体限定。
在一个实施例中，所述监管控制信息中可以包括提示指令，所述飞行器可以根据接收到的监管控制信息中包括的所述提示指令，向所述飞行器的控制终端推送提示信息。具体举例如前所述，此处不再赘述。在一个实施例中，所述监管控制信息中可以包括返航指令，所述飞行器可以根据接收到的监管控制信息中包括的返航指令的指示返航。具体举例如前所述，此处不再赘述。在一个实施例中，所述监管控制信息中可以包括降落指令，所述飞行器可以根据接收到的监管控制信息中包括的降落指令的指示降落。具体举例如前所述，此处不再赘述。
本发明实施例中，飞行器通过在飞行过程中广播飞行特征信息，根据接收监控设备返回的第一监管控制信息的信号参数对射频前端的射频参数进行配 置，以及基于所述射频前端的修正后的射频参数继续接收所述监控设备发送的第二监管控制信息，并在接收到所述监管控制信息后，执行所述监管控制信息中包括的监管控制指令所指示的监管操作。通过这种方式，飞行器可执行监控设备的监管操作，提高了飞行器的飞行安全程度。
请参见图7，图7是本发明实施例提供的一种监控设备的结构示意图。具体的，所述监控设备包括：存储器701、处理器702以及数据接口703。
所述存储器701可以包括易失性存储器(volatile memory)；存储器701也可以包括非易失性存储器(non-volatile memory)；存储器701还可以包括上述种类的存储器的组合。所述处理器702可以是中央处理器(central processing unit，CPU)。所述处理器702还可以进一步包括硬件芯片。上述硬件芯片可以是专用集成电路(application-specific integrated circuit，ASIC)，可编程逻辑器件(programmable logic device，PLD)或其组合。具体例如可以是复杂可编程逻辑器件(complex programmable logic device，CPLD)，现场可编程逻辑门阵列(field-programmable gate array，FPGA)或其任意组合。
进一步地，所述存储器701用于存储程序指令，当程序指令被执行时所述处理器702可以调用存储器701中存储的程序指令，用于执行如下步骤：
接收飞行器发送的飞行特征信息；
在接收到所述飞行特征信息后，发送监管控制信息，其中，所述监管控制信息包括监管控制指令，所述监管控制信息用于指示所述飞行器执行所述监管控制指令所指示的监管操作。
进一步地，所述飞行特征信息包括飞行器身份信息、位置信息、链路信息、验证信息中的任意一种或多种。
进一步地，所述飞行特征信息包括飞行器身份信息和/或位置信息，所述处理器702调用存储器701中存储的程序指令还用于执行如下步骤：
获取所述飞行器身份信息和/或位置信息；
将所述飞行器身份信息和/或位置信息显示在所述监控设备的交互界面上。
进一步地，所述飞行特征信息包括飞行器身份信息和/或位置信息，所述处理器702调用存储器701中存储的程序指令还用于执行如下步骤：
获取所述飞行器身份信息和/或位置信息；
将所述飞行器身份信息和/或位置信息发送给远程监控平台。
进一步地，所述飞行特征信息包括链路信息，所述处理器702调用存储器701中存储的程序指令具体用于执行如下步骤：
获取所述链路信息；
根据所述链路信息，向所述飞行器发送所述监管控制信息。
进一步地，所述链路信息包括频点和/或带宽。
进一步地，所述处理器702调用存储器701中存储的程序指令具体用于执行如下步骤：
向所述飞行器以相同或者不相同的时间间隔发送多次监管控制信息。
进一步地，所述处理器702调用存储器701中存储的程序指令具体用于执行如下步骤：
向飞行器发送第一监管控制信息，以使所述飞行器控制射频前端根据当前的射频参数接收所述第一监管控制信息，并根据所述第一监管控制信息的信号参数修正所述当前的射频参数；
向所述飞行器发送第二监管控制信息，以使所述飞行器控制射频前端根据修正后的射频参数接收所述第二监管控制信息；
其中，所述第二监管控制信息用于指示所述飞行器执行所述第二监管控制信息中包括的监管控制指令对应的监管操作。
进一步地，所述处理器702调用存储器701中存储的程序指令具体用于执行如下步骤：
向飞行器发送第一监管控制信息，以使所述飞行器控制射频前端根据当前的射频参数接收所述第一监管控制信息，并根据所述第一监管控制信息的信号参数修正所述当前的射频参数；
接收所述飞行器返回的修正后的射频参数；
根据所述修正后的射频参数，继续向所述飞行器发送第二监管控制信息；
其中，所述第二监管控制信息用于指示所述飞行器执行所述第二监管控制信息中包括的监管控制指令对应的监管操作。
进一步地，所述飞行特征信息中包括验证信息，所述监管控制信息包括从所述飞行特征信息中解析获取的验证信息，所述获取的验证信息用于指示所述飞行器根据所述监管控制信息中的验证信息和所述飞行特征信息中的验证信 息，确定所述监管控制信息是否有效。
进一步地，所述监管控制指令包括提示指令，所述提示指令用于指示所述飞行器向所述飞行器的控制终端推送提示信息。
进一步地，所述监管控制指令包括返航指令，所述返航指令用于指示所述飞行器返航。
进一步地，所述监管控制指令包括降落指令，所述降落指令用于指示所述飞行器降落。
本发明实施例中，监控设备通过接收飞行器发送的飞行特征信息，并在接收到所述飞行特征信息后向所述飞行器发送监管控制信息，以使所述飞行器执行所述监管控制信息中包括的监管控制指令所指示的监管操作。通过这种方式，实现了对飞行器的监管和控制，提高了飞行器的飞行安全程度。
本发明实施例还提供了一种飞行器，包括：机身；设置在机身上的动力系统，用于提供飞行动力；处理器，用于广播飞行特征信息；接收监控设备返回的监管控制信息，其中，所述监管控制信息中包括监管控制指令；在接收到所述监管控制信息后，执行所述监管控制指令所指示的监管操作。
进一步地，所述飞行特征信息包括飞行器身份信息、位置信息、链路信息、验证信息中的任意一种或多种。
进一步地，所述处理器具体用于执行如下步骤：
以随机的时间间隔向所述监控设备发送所述飞行特征信息。
进一步地，所述时间间隔是根据从预设时间间隔阈值集合中选择的预设时间间隔阈值确定的，所述预设时间间隔阈值集合包括至少两个预设时间间隔阈值。
进一步地，所述处理器具体用于执行如下步骤：
控制射频前端根据当前的射频参数接收第一监管控制信息；
根据所述第一监管控制信息的信号参数修正所述当前的射频参数；
控制射频前端根据修正后的射频参数继续接收所述监控设备发送的第二监管控制信息；
所述处理器具体用于执行如下步骤：
执行所述第二监管控制信息中包括的监管控制指令所指示的监管操作。
进一步地，所述射频参数包括：增益配置参数和/或校正配置参数。
进一步地，所述飞行特征信息包括验证信息，所述监管控制信息包括所述监控设备从接收到的所述飞行特征信息中解析获取的验证信息，所述处理器具体用于执行如下步骤：
根据所述监管控制信息中的验证信息和所述飞行特征信息中的验证信息，判断所述监管控制信息是否有效；
如果判断结果为是，则根据所述监管控制信息中包括的监管控制指令，执行所述监管操作。
进一步地，所述监管控制指令包括提示指令，所述处理器具体用于执行如下步骤：
根据所述提示指令向所述飞行器的控制终端推送提示信息。
进一步地，所述监管控制指令包括返航指令，所述处理器具体用于执行如下步骤：
根据所述返航指令控制所述飞行器返航。
进一步地，所述监管控制指令包括降落指令，所述处理器具体用于执行如下步骤：
根据所述降落指令控制所述飞行器降落。
本发明实施例中，飞行器通过在飞行过程中广播飞行特征信息，接收监控设备返回的监管控制信息，并在接收到所述监管控制信息后，执行所述监管控制信息中包括的监管控制指令所指示的监管操作。通过这种方式，飞行器可执行监控设备的监管操作，提高了飞行器的飞行安全。
本发明实施例还提供了一种控制系统，包括：监控设备和飞行器；
所述飞行器，用于广播飞行特征信息；
所述监控设备，用于接收飞行器发送的飞行特征信息，在接收到所述飞行特征信息后，发送监管控制信息，其中，所述监管控制信息包括监管控制指令；
所述飞行器，还用于接收监控设备返回的监管控制信息，并在接收到所述监管控制信息后，执行所述监管控制指令所指示的监管操作。
进一步地，所述飞行器，具体用于以随机的时间间隔向所述监控设备发送所述飞行特征信息。
进一步地，所述飞行特征信息中包括飞行器身份信息和/或位置信息，所述监控设备，用于获取所述飞行器身份信息和/或位置信息；将所述飞行器身 份信息和/或位置信息显示在所述监控设备的交互界面上。
进一步地，所述飞行特征信息中包括飞行器身份信息和/或位置信息，所述监控设备，用于获取所述飞行器身份信息和/或位置信息；将所述飞行器身份信息和/或位置信息发送给远程监控平台。
进一步地，所述飞行特征信息中包括链路信息，所述监控设备，用于获取所述链路信息；根据所述链路信息，向所述飞行器发送所述监管控制信息。
进一步地，所述监控设备，具体用于向所述飞行器以相同或者不相同的时间间隔发送多次监管控制信息。
进一步地，所述监控设备，具体用于向飞行器发送第一监管控制信息，以使所述飞行器控制射频前端根据当前的射频参数接收所述第一监管控制信息，并根据所述第一监管控制信息的信号参数修正所述当前的射频参数；向所述飞行器发送第二监管控制信息，以使所述飞行器控制射频前端根据修正后的射频参数接收所述第二监管控制信息；其中，所述第二监管控制信息用于指示所述飞行器执行所述第二监管控制信息中包括的监管控制指令对应的监管操作。
进一步地，所述监控设备，具体用于向飞行器发送第一监管控制信息，以使所述飞行器控制射频前端根据当前的射频参数接收所述第一监管控制信息，并根据所述第一监管控制信息的信号参数修正所述当前的射频参数；接收所述飞行器返回的修正后的射频参数；根据所述修正后的射频参数，继续向所述飞行器发送第二监管控制信息；其中，所述第二监管控制信息用于指示所述飞行器执行所述第二监管控制信息中包括的监管控制指令对应的监管操作。
进一步地，所述飞行器，具体用于控制射频前端根据当前的射频参数接收第一监管控制信息；根据所述第一监管控制信息的信号参数修正所述当前的射频参数；控制射频前端根据修正后的射频参数继续接收所述监控设备发送的第二监管控制信息；
所述飞行器，具体用于执行所述第二监管控制信息中包括的监管控制指令所指示的监管操作。
进一步地，所述飞行特征信息中包括验证信息，其中，所述监管控制信息中包括所述监管设备从接收到的飞行特征信息中解析获取的验证信息，
所述飞行器，具体用于根据所述监管控制信息中的验证信息和所述飞行特征信息中的验证信息，判断所述监管控制信息是否有效；如果判断结果为是， 则根据所述监管控制信息中包括的监管控制指令，执行所述监管操作。
进一步地，所述监管控制指令包括提示指令，
所述飞行器，具体用于根据所述提示指令向所述飞行器的控制终端推送提示信息。
进一步地，所述监管控制指令包括返航指令，
所述飞行器，具体用于根据所述返航指令控制所述飞行器返航。
进一步地，所述监管控制指令包括降落指令，
所述飞行器，具体用于根据所述降落指令控制所述飞行器降落。
本发明实施例中，监控设备通过接收飞行器发送的飞行特征信息，并在接收到所述飞行特征信息后向所述飞行器发送监管控制信息，以使所述飞行器执行所述监管控制信息中包括的监管控制指令所指示的监管操作。通过这种方式，实现了对飞行器的监管和控制，提高了飞行器的飞行安全程度。
在本发明的实施例中还提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现本发明图3、图4、图5或图6所对应实施例中描述的控制方法方式，也可实现图1所对应的控制系统，图7所述本发明所对应实施例的监控设备，在此不再赘述。
所述计算机可读存储介质可以是前述任一实施例所述的设备的内部存储单元，例如设备的硬盘或内存。所述计算机可读存储介质也可以是所述设备的外部存储设备，例如所述设备上配备的插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(Secure Digital,SD)卡，闪存卡(Flash Card)等。进一步地，所述计算机可读存储介质还可以既包括所述设备的内部存储单元也包括外部存储设备。所述计算机可读存储介质用于存储所述计算机程序以及所述终端所需的其他程序和数据。所述计算机可读存储介质还可以用于暂时地存储已经输出或者将要输出的数据。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体(Random Access Memory，RAM)等。
以上所揭露的仅为本发明部分实施例而已，当然不能以此来限定本发明之 权利范围，因此依本发明权利要求所作的等同变化，仍属本发明所涵盖的范围。

Claims (60)

  1. 一种控制方法，其特征在于，应用于监控设备，所述方法包括：
    接收飞行器发送的飞行特征信息；
    在接收到所述飞行特征信息后，发送监管控制信息，其中，所述监管控制信息包括监管控制指令，所述监管控制信息用于指示所述飞行器执行所述监管控制指令所指示的监管操作。
  2. 根据权利要求1所述的方法，其特征在于，
    所述飞行特征信息包括飞行器身份信息、位置信息、链路信息、验证信息中的任意一种或多种。
  3. 根据权利要求1所述的方法，其特征在于，所述飞行特征信息包括飞行器身份信息和/或位置信息，所述方法还包括：
    获取所述飞行器身份信息和/或位置信息；
    将所述飞行器身份信息和/或位置信息显示在所述监控设备的交互界面上。
  4. 根据权利要求1所述的方法，其特征在于，所述飞行特征信息包括飞行器身份信息和/或位置信息，所述方法还包括：
    获取所述飞行器身份信息和/或位置信息；
    将所述飞行器身份信息和/或位置信息发送给远程监控平台。
  5. 根据权利要求1所述的方法，其特征在于，所述飞行特征信息包括链路信息，所述发送监管控制信息，包括：
    获取所述链路信息；
    根据所述链路信息，向所述飞行器发送所述监管控制信息。
  6. 根据权利要求5所述的方法，其特征在于，
    所述链路信息包括频点和/或带宽。
  7. 根据权利要求1所述的方法，其特征在于，所述发送监管控制信息，包括：
    向所述飞行器以相同或者不相同的时间间隔发送多次监管控制信息。
  8. 根据权利要求7所述的方法，其特征在于，所述向所述飞行器以相同或者不相同的时间间隔发送多次监管控制信息，包括：
    向飞行器发送第一监管控制信息，以使所述飞行器控制射频前端根据当前的射频参数接收所述第一监管控制信息，并根据所述第一监管控制信息的信号参数修正所述当前的射频参数；
    向所述飞行器发送第二监管控制信息，以使所述飞行器控制射频前端根据修正后的射频参数接收所述第二监管控制信息；
    其中，所述第二监管控制信息用于指示所述飞行器执行所述第二监管控制信息中包括的监管控制指令对应的监管操作。
  9. 根据权利要求7所述的方法，其特征在于，所述向所述飞行器以相同或者不相同的时间间隔发送多次监管控制信息，包括：
    向飞行器发送第一监管控制信息，以使所述飞行器控制射频前端根据当前的射频参数接收所述第一监管控制信息，并根据所述第一监管控制信息的信号参数修正所述当前的射频参数；
    接收所述飞行器返回的修正后的射频参数；
    根据所述修正后的射频参数，继续向所述飞行器发送第二监管控制信息；
    其中，所述第二监管控制信息用于指示所述飞行器执行所述第二监管控制信息中包括的监管控制指令对应的监管操作。
  10. 根据权利要求1所述的方法，其特征在于，
    所述飞行特征信息中包括验证信息，所述监管控制信息包括从所述飞行特征信息中解析获取的验证信息，所述获取的验证信息用于指示所述飞行器根据所述监管控制信息中的验证信息和所述飞行特征信息中的验证信息，确定所述监管控制信息是否有效。
  11. 根据权利要求1所述的方法，其特征在于，
    所述监管控制指令包括提示指令，所述提示指令用于指示所述飞行器向所述飞行器的控制终端推送提示信息。
  12. 根据权利要求1所述的方法，其特征在于，
    所述监管控制指令包括返航指令，所述返航指令用于指示所述飞行器返航。
  13. 根据权利要求1所述的方法，其特征在于，
    所述监管控制指令包括降落指令，所述降落指令用于指示所述飞行器降落。
  14. 一种控制方法，其特征在于，应用于飞行器，所述方法包括：
    广播飞行特征信息；
    接收监控设备返回的监管控制信息，其中，所述监管控制信息中包括监管控制指令；
    在接收到所述监管控制信息后，执行所述监管控制指令所指示的监管操作。
  15. 根据权利要求14所述的方法，其特征在于，
    所述飞行特征信息包括飞行器身份信息、位置信息、链路信息、验证信息中的任意一种或多种。
  16. 根据权利要求14所述的方法，其特征在于，所述广播飞行特征信息，包括：
    以随机的时间间隔向所述监控设备发送所述飞行特征信息。
  17. 根据权利要求16所述的方法，其特征在于，
    所述时间间隔是根据从预设时间间隔阈值集合中选择的预设时间间隔阈 值确定的，所述预设时间间隔阈值集合包括至少两个预设时间间隔阈值。
  18. 根据权利要求14所述的方法，其特征在于，所述接收监控设备返回的监管控制信息，包括：
    控制射频前端根据当前的射频参数接收第一监管控制信息；
    根据所述第一监管控制信息的信号参数修正所述当前的射频参数；
    控制射频前端根据修正后的射频参数继续接收所述监控设备发送的第二监管控制信息；
    所述执行所述监管控制指令所指示的监管操作包括：
    执行所述第二监管控制信息中包括的监管控制指令所指示的监管操作。
  19. 根据权利要求18所述的方法，其特征在于，
    所述射频参数包括：增益配置参数和/或校正配置参数。
  20. 根据权利要求14所述的方法，其特征在于，所述飞行特征信息包括验证信息，所述监管控制信息包括所述监控设备从接收到的所述飞行特征信息中解析获取的验证信息，所述执行所述监管控制指令所指示的监管操作，包括：
    根据所述监管控制信息中的验证信息和所述飞行特征信息中的验证信息，判断所述监管控制信息是否有效；
    如果判断结果为是，则根据所述监管控制信息中包括的监管控制指令，执行所述监管操作。
  21. 根据权利要求14所述的方法，其特征在于，所述监管控制指令包括提示指令，所述执行所述监管控制指令所指示的监管操作，包括：
    根据所述提示指令向所述飞行器的控制终端推送提示信息。
  22. 根据权利要求14所述的方法，其特征在于，所述监管控制指令包括返航指令，所述执行所述监管控制指令所指示的监管操作，包括：
    根据所述返航指令控制所述飞行器返航。
  23. 根据权利要求14所述的方法，其特征在于，所述监管控制指令包括降落指令，所述执行所述监管控制指令所指示的监管操作，包括：
    根据所述降落指令控制所述飞行器降落。
  24. 一种监控设备，其特征在于，包括：处理器和存储器；
    所述存储器，用于存储程序指令；
    所述处理器，执行所述存储器存储的程序指令，当程序指令被执行时，所述处理器用于执行如下步骤：
    接收飞行器发送的飞行特征信息；
    在接收到所述飞行特征信息后，发送监管控制信息，其中，所述监管控制信息包括监管控制指令，所述监管控制信息用于指示所述飞行器执行所述监管控制指令所指示的监管操作。
  25. 根据权利要求24所述的设备，其特征在于，
    所述飞行特征信息包括飞行器身份信息、位置信息、链路信息、验证信息中的任意一种或多种。
  26. 根据权利要求24所述的设备，其特征在于，所述飞行特征信息包括飞行器身份信息和/或位置信息，
    所述处理器，还用于获取所述飞行器身份信息和/或位置信息；将所述飞行器身份信息和/或位置信息显示在所述监控设备的交互界面上。
  27. 根据权利要求24所述的设备，其特征在于，所述飞行特征信息包括飞行器身份信息和/或位置信息，
    所述处理器，还用于获取所述飞行器身份信息和/或位置信息；将所述飞行器身份信息和/或位置信息发送给远程监控平台。
  28. 根据权利要求24所述的设备，其特征在于，所述飞行特征信息包括链路信息，
    所述处理器，具体用于获取所述链路信息；根据所述链路信息，向所述飞 行器发送所述监管控制信息。
  29. 根据权利要求28所述的设备，其特征在于，
    所述链路信息包括频点和/或带宽。
  30. 根据权利要求24所述的设备，其特征在于，
    所述处理器，具体用于向所述飞行器以相同或者不相同的时间间隔发送多次监管控制信息。
  31. 根据权利要求30所述的设备，其特征在于，
    所述处理器，具体用于：
    向飞行器发送第一监管控制信息，以使所述飞行器控制射频前端根据当前的射频参数接收所述第一监管控制信息，并根据所述第一监管控制信息的信号参数修正所述当前的射频参数；
    向所述飞行器发送第二监管控制信息，以使所述飞行器控制射频前端根据修正后的射频参数接收所述第二监管控制信息；
    其中，所述第二监管控制信息用于指示所述飞行器执行所述第二监管控制信息中包括的监管控制指令对应的监管操作。
  32. 根据权利要求30所述的设备，其特征在于，
    所述处理器，具体用于：
    向飞行器发送第一监管控制信息，以使所述飞行器控制射频前端根据当前的射频参数接收所述第一监管控制信息，并根据所述第一监管控制信息的信号参数修正所述当前的射频参数；
    接收所述飞行器返回的修正后的射频参数；
    根据所述修正后的射频参数，继续向所述飞行器发送第二监管控制信息；
    其中，所述第二监管控制信息用于指示所述飞行器执行所述第二监管控制信息中包括的监管控制指令对应的监管操作。
  33. 根据权利要求24所述的设备，其特征在于，
    所述飞行特征信息中包括验证信息，所述监管控制信息包括从所述飞行特征信息中解析获取的验证信息，所述获取的验证信息用于指示所述飞行器根据所述监管控制信息中的验证信息和所述飞行特征信息中的验证信息，确定所述监管控制信息是否有效。
  34. 根据权利要求24所述的设备，其特征在于，
    所述监管控制指令包括提示指令，所述提示指令用于指示所述飞行器向所述飞行器的控制终端推送提示信息。
  35. 根据权利要求24所述的设备，其特征在于，
    所述监管控制指令包括返航指令，所述返航指令用于指示所述飞行器返航。
  36. 根据权利要求24所述的设备，其特征在于，
    所述监管控制指令包括降落指令，所述降落指令用于指示所述飞行器降落。
  37. 一种飞行器，其特征在于，包括：
    机身；
    设置在机身上的动力系统，用于：提供飞行动力；
    处理器，用于广播飞行特征信息；接收监控设备返回的监管控制信息，其中，所述监管控制信息中包括监管控制指令；在接收到所述监管控制信息后，执行所述监管控制指令所指示的监管操作。
  38. 根据权利要求37所述的飞行器，其特征在于，
    所述飞行特征信息包括飞行器身份信息、位置信息、链路信息、验证信息中的任意一种或多种。
  39. 根据权利要求37所述的飞行器，其特征在于，
    所述处理器，具体用于以随机的时间间隔向所述监控设备发送所述飞行特 征信息。
  40. 根据权利要求39所述的飞行器，其特征在于，
    所述时间间隔是根据从预设时间间隔阈值集合中选择的预设时间间隔阈值确定的，所述预设时间间隔阈值集合包括至少两个预设时间间隔阈值。
  41. 根据权利要求37所述的飞行器，其特征在于，
    所述处理器，用于具体控制射频前端根据当前的射频参数接收第一监管控制信息；根据所述第一监管控制信息的信号参数修正所述当前的射频参数；控制射频前端根据修正后的射频参数继续接收所述监控设备发送的第二监管控制信息；
    所述处理器，具体用于执行所述第二监管控制信息中包括的监管控制指令所指示的监管操作。
  42. 根据权利要求41所述的飞行器，其特征在于，
    所述射频参数包括：增益配置参数和/或校正配置参数。
  43. 根据权利要求37所述的飞行器，其特征在于，所述飞行特征信息包括验证信息，所述监管控制信息包括所述监控设备从接收到的所述飞行特征信息中解析获取的验证信息，
    所述处理器，具体用于根据所述监管控制信息中的验证信息和所述飞行特征信息中的验证信息，判断所述监管控制信息是否有效；如果判断结果为是，则根据所述监管控制信息中包括的监管控制指令，执行所述监管操作。
  44. 根据权利要求37所述的飞行器，其特征在于，所述监管控制指令包括提示指令，
    所述处理器，具体用于根据所述提示指令向所述飞行器的控制终端推送提示信息。
  45. 根据权利要求37所述的飞行器，其特征在于，所述监管控制指令包 括返航指令，
    所述处理器，具体用于根据所述返航指令控制所述飞行器返航。
  46. 根据权利要求37所述的飞行器，其特征在于，所述监管控制指令包括降落指令，
    所述处理器，具体用于根据所述降落指令控制所述飞行器降落。
  47. 一种控制系统，其特征在于，包括：监控设备和飞行器，
    所述飞行器，用于广播飞行特征信息；
    所述监控设备，用于接收飞行器发送的飞行特征信息，在接收到所述飞行特征信息后，发送监管控制信息，其中，所述监管控制信息包括监管控制指令；
    所述飞行器，还用于接收监控设备返回的监管控制信息，并在接收到所述监管控制信息后，执行所述监管控制指令所指示的监管操作。
  48. 根据权利要求47所述的系统，其特征在于，
    所述飞行器，具体用于以随机的时间间隔向所述监控设备发送所述飞行特征信息。
  49. 根据权利要求47所述的系统，其特征在于，所述飞行特征信息中包括飞行器身份信息和/或位置信息，
    所述监控设备，用于获取所述飞行器身份信息和/或位置信息；将所述飞行器身份信息和/或位置信息显示在所述监控设备的交互界面上。
  50. 根据权利要求47所述的系统，其特征在于，所述飞行特征信息中包括飞行器身份信息和/或位置信息，
    所述监控设备，用于获取所述飞行器身份信息和/或位置信息；将所述飞行器身份信息和/或位置信息发送给远程监控平台。
  51. 根据权利要求47所述的系统，其特征在于，所述飞行特征信息中包括链路信息，
    所述监控设备，用于获取所述链路信息；根据所述链路信息，向所述飞行器发送所述监管控制信息。
  52. 根据权利要求47所述的系统，其特征在于，
    所述监控设备，具体用于向所述飞行器以相同或者不相同的时间间隔发送多次监管控制信息。
  53. 根据权利要求52所述的系统，其特征在于，
    所述监控设备，具体用于向飞行器发送第一监管控制信息，以使所述飞行器控制射频前端根据当前的射频参数接收所述第一监管控制信息，并根据所述第一监管控制信息的信号参数修正所述当前的射频参数；向所述飞行器发送第二监管控制信息，以使所述飞行器控制射频前端根据修正后的射频参数接收所述第二监管控制信息；其中，所述第二监管控制信息用于指示所述飞行器执行所述第二监管控制信息中包括的监管控制指令对应的监管操作。
  54. 根据权利要求52所述的系统，其特征在于，
    所述监控设备，具体用于向飞行器发送第一监管控制信息，以使所述飞行器控制射频前端根据当前的射频参数接收所述第一监管控制信息，并根据所述第一监管控制信息的信号参数修正所述当前的射频参数；接收所述飞行器返回的修正后的射频参数；根据所述修正后的射频参数，继续向所述飞行器发送第二监管控制信息；其中，所述第二监管控制信息用于指示所述飞行器执行所述第二监管控制信息中包括的监管控制指令对应的监管操作。
  55. 根据权利要求47所述的系统，其特征在于，
    所述飞行器，具体用于控制射频前端根据当前的射频参数接收第一监管控制信息；根据所述第一监管控制信息的信号参数修正所述当前的射频参数；控制射频前端根据修正后的射频参数继续接收所述监控设备发送的第二监管控制信息；
    所述飞行器，具体用于执行所述第二监管控制信息中包括的监管控制指令所指示的监管操作。
  56. 根据权利要求47所述的系统，其特征在于，所述飞行特征信息中包括验证信息，其中，所述监管控制信息中包括所述监管设备从接收到的飞行特征信息中解析获取的验证信息，
    所述飞行器，具体用于根据所述监管控制信息中的验证信息和所述飞行特征信息中的验证信息，判断所述监管控制信息是否有效；如果判断结果为是，则根据所述监管控制信息中包括的监管控制指令，执行所述监管操作。
  57. 根据权利要求47所述的系统，其特征在于，所述监管控制指令包括提示指令，
    所述飞行器，具体用于根据所述提示指令向所述飞行器的控制终端推送提示信息。
  58. 根据权利要求47所述的系统，其特征在于，所述监管控制指令包括返航指令，
    所述飞行器，具体用于根据所述返航指令控制所述飞行器返航。
  59. 根据权利要求47所述的系统，其特征在于，所述监管控制指令包括降落指令，
    所述飞行器，具体用于根据所述降落指令控制所述飞行器降落。
  60. 一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1至23任一项所述方法。
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