CN108701419B

CN108701419B - Unmanned aerial vehicle control method and control equipment, unmanned aerial vehicle supervision method and supervision equipment

Info

Publication number: CN108701419B
Application number: CN201780005527.5A
Authority: CN
Inventors: 邓任钦; 尤中乾; 谢鹏
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2017-03-21
Filing date: 2017-03-21
Publication date: 2022-01-11
Anticipated expiration: 2037-03-21
Also published as: WO2018170737A1; CN108701419A

Abstract

An unmanned aerial vehicle control method and control device, an unmanned aerial vehicle supervision method and supervision equipment, and an unmanned aerial vehicle are used to realize the supervision of the unmanned aerial vehicle. The UAV control method includes: acquiring the supervision information of the UAV; using a processor to split the supervision information into a preset number of supervision information segments; using the processor to transmit each frame of the preset frame number of data frames Insert one or more supervision information fragments in the preset number of supervision information fragments; use the transmitter to send the preset number of data transmission frames in the working channel of the communication network between the drone and the control terminal.

Description

Unmanned aerial vehicle control method and control equipment, unmanned aerial vehicle supervision method and supervision equipment

Technical Field

The embodiment of the application relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle control method and control equipment, an unmanned aerial vehicle supervision method and supervision equipment and an unmanned aerial vehicle.

Background

Unmanned aerial vehicle is as an aviation aircraft, and in the in-process in the use airspace, there is the flight area indefinite, invades privacy, potential safety hazard scheduling problem, in order to guarantee public's security, needs receive certain level's supervision.

At present, interception and discovery technique to unmanned aerial vehicle can include phased array radar, electronic imaging, sound wave detection and radio frequency signal detection etc. but these techniques are not mature yet, can't be used for discovering small unmanned aerial vehicle well, and even discover small unmanned aerial vehicle, also can't provide relevant information such as unmanned aerial vehicle identity and geographical position, and these techniques all have simultaneously unstability, the working distance is short or accuracy shortcoming such as not high, specifically can be as follows: 1. phased array radar: because unmanned aerial vehicle is small, the plane of reflection is little, the radar working distance is short to be difficult for distinguishing the target unmanned aerial vehicle or other objects, the false detection probability is high. The phased array radar is large in using volume, and the field arrangement difficulty is increased; 2. electronic imaging: firstly, the detection probability is low, secondly, large-caliber lenses are needed for remote detection, thirdly, the target is unmanned aerial vehicle or flying birds which are difficult to distinguish, and the thermal imaging technology has the same problems; 3. acoustic wave detection: compared with other technologies, the detection distance is shorter, the interference of environmental noise is large, and especially when multiple unmanned aerial vehicles appear simultaneously, the single target cannot be identified; 4. detecting a radio frequency signal: because the unmanned aerial vehicle generally adopts ISM (industrial Scientific medical) frequency band signals, and the devices using such frequency bands are numerous, and the characteristics of the signals of the unmanned aerial vehicles of different models are different, so that the signals of the unmanned aerial vehicle are difficult to detect from the characteristics of radio frequency signals, meanwhile, the cracking difficulty of the signals of the unmanned aerial vehicle is high, and after the signals of the unmanned aerial vehicle are cracked, a manufacturer may update firmware to repair the cracked bugs of the signals of the unmanned aerial vehicle, so that the cracking method is easy to fail.

In addition, except the above-mentioned technique, unmanned aerial vehicle also can be broadcast through carrying ADS-B equipment, and ground cooperation has radar equipment to survey and realize the supervision simultaneously. However, because the ADS-B device is a high-power transmitting device (greater than 100W), it is difficult to be applied to small and medium-sized micro unmanned aerial vehicles, and the radar detection on the ground has certain requirements on the volume and flight height of the target aircraft, whereas for small and medium-sized micro unmanned aerial vehicles featuring "low/slow/small/many", it is difficult to achieve efficient detection.

Disclosure of Invention

The embodiment of the invention provides an unmanned aerial vehicle control method and control equipment, an unmanned aerial vehicle supervision method and supervision equipment and an unmanned aerial vehicle, which are used for realizing the supervision of the unmanned aerial vehicle.

In view of the above, a first aspect of the present invention provides a method for controlling an unmanned aerial vehicle, which may include:

acquiring the supervision information of the unmanned aerial vehicle;

splitting the supervision information into a preset number of supervision information fragments by using a processor;

inserting one or more supervision information segments in a preset number of supervision information segments into each frame of a data transmission frame with a preset frame number by using a processor;

and sending the data transmission frame with the preset frame number in a working channel of a communication network between the unmanned aerial vehicle and the control terminal by using the transmitter.

A second aspect of the present invention provides a method for supervising an unmanned aerial vehicle, which may include:

scanning a working channel of a communication network between the unmanned aerial vehicle and the control terminal by using a detector;

acquiring a preset frame number of data transmission frames sent from the unmanned aerial vehicle by using a detector, wherein each frame in the preset frame number of data transmission frames comprises one or more supervision information segments of supervision information of the unmanned aerial vehicle;

and combining the supervision information fragments in each frame of the data transmission frames with the preset frame number by using the processor to obtain the supervision information.

A third aspect of the present invention provides a control apparatus, which may include:

the processor is used for acquiring the supervision information of the unmanned aerial vehicle; splitting the supervision information into a preset number of supervision information fragments; inserting one or more supervision information segments in a preset number of supervision information segments into each frame of a data transmission frame with a preset number of frames;

and the transmitter is used for transmitting the data transmission frame with the preset frame number in a working channel of a communication network between the unmanned aerial vehicle and the control terminal.

A fourth aspect of the present invention provides a supervisory device, which may comprise:

the detector is used for scanning a working channel of a communication network between the unmanned aerial vehicle and the control terminal; acquiring data transmission frames of preset frame numbers sent by an unmanned aerial vehicle, wherein each frame in the data transmission frames of the preset frame numbers comprises one or more supervision information segments of supervision information of the unmanned aerial vehicle;

and the processor is used for combining the supervision information fragments in each frame in the data transmission frames with preset frame numbers to obtain the supervision information.

A fifth aspect of the present invention provides an unmanned aerial vehicle, which may include:

the power system is used for providing flight power for the unmanned aerial vehicle;

the control device according to the third aspect.

According to the technical scheme, the embodiment of the invention has the following advantages:

different from the situation of the prior art, in the embodiment of the invention, the unmanned aerial vehicle inserts the supervision information segment obtained by splitting the supervision information into the data transmission frame, the data transmission frame containing the supervision information segment is sent in a working channel of a communication network between the unmanned aerial vehicle and the control terminal, and after the supervision equipment obtains the data transmission frame of the unmanned aerial vehicle and the control terminal, the supervision information segment is demodulated from the data transmission frame, so that the supervision information of the unmanned aerial vehicle can be combined, the hardware structure of the unmanned aerial vehicle does not need to be changed, the supervision cost of the unmanned aerial vehicle is reduced, meanwhile, the unmanned aerial vehicle has high identification rate and long detection distance.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic diagram of data transmission of an unmanned aerial vehicle according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of an embodiment of an unmanned aerial vehicle control method according to an embodiment of the invention;

FIG. 3 is a schematic diagram of another embodiment of the unmanned aerial vehicle control method according to the embodiment of the present invention;

FIG. 4 is a diagram illustrating a frame structure in TDD mode according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of another embodiment of the unmanned aerial vehicle control method according to the embodiment of the present invention;

FIG. 6 is a frame structure diagram of FDD mode in the embodiment of the present invention;

fig. 7 is a schematic diagram of an embodiment of a method for supervising an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 8 is a schematic diagram of another embodiment of the unmanned aerial vehicle monitoring method in the embodiment of the present invention;

FIG. 9 is a diagram illustrating data transmission of a remote monitoring platform according to an embodiment of the present invention;

fig. 10 is a schematic diagram of another embodiment of the unmanned aerial vehicle supervision method according to the embodiment of the present invention;

FIG. 11 is a schematic diagram of an embodiment of a control device in an embodiment of the present invention;

FIG. 12 is a schematic diagram of an embodiment of a supervisory device in accordance with embodiments of the present invention;

fig. 13 is a schematic diagram of another embodiment of the supervision device in the embodiment of the present invention.

Detailed Description

The embodiment of the invention provides an unmanned aerial vehicle control method and control equipment, and an unmanned aerial vehicle supervision method and supervision equipment, which are used for realizing the supervision of an unmanned aerial vehicle.

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In the embodiment of the present invention, assuming that there is an unmanned aerial vehicle, as shown in fig. 1, the unmanned aerial vehicle may be in communication connection with the control terminal to implement flight control of the unmanned aerial vehicle by the control terminal, and meanwhile, the unmanned aerial vehicle may send acquired data to the control terminal. In the embodiment of the invention, the unmanned aerial vehicle can also be supervised by the supervision equipment, namely the supervision equipment can acquire communication data between the unmanned aerial vehicle and the control terminal thereof.

In existing solutions, the interception and discovery techniques for unmanned aerial vehicles may include phased array radar, electronic imaging, acoustic detection, radio frequency signal detection, and the like. Wherein, phased array radar, electron imaging have the high problem of false retrieval probability, the sound wave detects there is the problem that the working distance is short, radio frequency signal detects that there is the adaptability low, unstability, the big problem of the degree of difficulty is cracked to the unmanned aerial vehicle signal, secondly, these techniques can't be used for unmanned aerial vehicle better, and can't effectively provide information such as unmanned aerial vehicle's identity and geographical position, make supervisory equipment be difficult to realize unmanned aerial vehicle's supervision, thereby be difficult to effectively improve unmanned aerial vehicle's flight safety.

In the embodiment of the invention, an unmanned aerial vehicle control method and control equipment, an unmanned aerial vehicle supervision method and supervision equipment and an unmanned aerial vehicle are provided, the unmanned aerial vehicle can insert supervision information fragments obtained by splitting supervision information into data transmission frames and can send the data transmission frames by utilizing a working channel of a communication network between the unmanned aerial vehicle and a control terminal, and the supervision equipment can combine the supervision information fragments obtained by demodulating the data transmission frames by continuously monitoring the working channel of the communication network between the unmanned aerial vehicle and the control terminal so as to realize supervision on the unmanned aerial vehicle according to the supervision information obtained by combination. Compared with the prior art, the embodiment of the invention is beneficial to overcoming the problems of instability, short action distance and high false detection probability of technologies such as phased array radar, electronic imaging, sound wave detection, radio frequency signal detection and the like, and can enable the supervision equipment to simply and effectively supervise the unmanned aerial vehicle.

It is understood that in the embodiment of the present invention, the unmanned aerial vehicle, i.e., the unmanned aerial vehicle, may be a rotary wing aircraft, a fixed wing aircraft, or a fixed wing and rotary wing hybrid aircraft, etc. The rotorcraft may include, but is not limited to, a single rotor, a double rotor, a triple rotor, a quad rotor, a hexarotor, and so on, which are not limited herein. In practical applications, the unmanned aerial vehicle can implement multi-dimensional movements, such as vertical movement, pitching movement, rolling movement, back and forth movement, and the like, an auxiliary device for supporting a load can be installed on a body of the unmanned aerial vehicle, so as to fix the load, optionally adjust the posture of the load (for example, change the height, the inclination angle and/or the direction of the load), stably maintain the load in a certain posture, and the like, and the load on the auxiliary device can include a camera, a video camera or a sensor, and the like, so as to implement different tasks and multiple functions of the unmanned aerial vehicle, which is not limited herein.

Further, in this embodiment, the control terminal may include, but is not limited to, one or more of a remote controller, a smart phone, a tablet, a smart wearable device (e.g., a watch, a bracelet, etc.), a ground control station, a PC, a laptop, and the like.

It should be noted that, in the embodiment of the present invention, as shown in fig. 1, after the unmanned aerial vehicle establishes a communication connection with the control terminal, uplink data of the unmanned aerial vehicle refers to communication data sent from the control terminal to the unmanned aerial vehicle, and downlink data of the unmanned aerial vehicle refers to communication data sent from the unmanned aerial vehicle to the control terminal, and after the limitation, a description thereof will not be repeated.

For convenience of understanding, a specific flow in the embodiment of the present invention is described below, and referring to fig. 2, an embodiment of the unmanned aerial vehicle monitoring method in the embodiment of the present invention includes:

201. acquiring the supervision information of the unmanned aerial vehicle;

in this embodiment, because communication connection can be established between unmanned aerial vehicle and the control terminal, unmanned aerial vehicle and control terminal all can regard as the execution main part so to at unmanned aerial vehicle's flight in-process, acquire unmanned aerial vehicle's supervisory information.

202. Splitting the supervision information into a preset number of supervision information fragments by using a processor;

in this embodiment, after the supervision information of the unmanned aerial vehicle is acquired, the supervision information can be split into the supervision information pieces of the preset number by using the processor.

Specifically, in order to prevent the monitoring information from having a large data amount and a limited data amount that can be carried by the data transmission frame, and thus the complete monitoring information cannot be transmitted at one time, the preset number of the monitoring information segments may be preset, so as to split a whole monitoring information into the monitoring information segments of the preset number, for example, into 10 monitoring information segments.

It can be understood that, in practical application, the data size between the preset number of pieces of the supervision information may be consistent or inconsistent, and the pieces of the supervision information may also be split according to the specific content of the supervision information, which is not limited herein.

203. Inserting one or more supervision information segments in a preset number of supervision information segments into each frame of a data transmission frame with a preset frame number by using a processor;

in this embodiment, after the processor is used to split the monitoring information into the monitoring information segments of the preset number, the processor may be used to insert one or more monitoring information segments of the preset number into each frame of the data transmission frames of the preset number of frames.

In practical application, since the supervision information is split into the supervision information segments with the preset number, according to the size of the data volume that can be carried by the data transmission frame and the size of the data volume of each supervision information segment, the preset number of frames, such as positive integers of 1, 2, 3, 4, 5, etc., can be preset, and one or more supervision information segments of the supervision information segments with the preset number can be inserted into each frame of the data transmission frame with the preset number of frames, which can be embodied in the following three ways:

1. if the data size that can be carried by one data transmission frame is greater than or equal to the data size of one whole piece of supervision information, then a preset number of pieces of supervision information can be all inserted into one data transmission frame, and the preset number of frames can be set to 1.

2. No matter whether the data size that can be carried by one data transmission frame is greater than or equal to the data size of the whole supervision information, the preset number of frames of the data transmission frame may be consistent with the preset number corresponding to the preset number of supervision information segments, for example, when the number of the supervision information segments is 10, the 10 supervision information segments may be respectively inserted into 10 data transmission frames, that is, one supervision information segment is inserted into one data transmission frame.

3. No matter whether the data size that can be carried by one data transmission frame is greater than or equal to the data size of the whole supervision information, corresponding to the preset number of supervision information segments, the preset number of frames of the data transmission frame may be smaller than the preset number, for example, when the number of the supervision information segments is 10, the 10 supervision information segments may be respectively inserted into 5 data transmission frames, that is, at least one supervision information segment may be inserted into each data transmission frame.

It should be noted that the data transmission frame may include an uplink wireless subframe and a downlink wireless subframe, where the uplink wireless subframe is used to transmit uplink data, and the downlink wireless subframe is used to transmit downlink data, where inserting one or more pieces of the predetermined number of pieces of supervision information into each frame of the data transmission frame with the predetermined number of frames may include: one or more supervision information segments in a preset number of supervision information segments are inserted into each subframe in a downlink wireless subframe of a data transmission frame with a preset number of frames, or one or more supervision information segments in a preset number of supervision information segments are inserted into each subframe in an uplink wireless subframe of a data transmission frame with a preset number of frames.

204. And sending the data transmission frame with the preset frame number in a working channel of a communication network between the unmanned aerial vehicle and the control terminal by using the transmitter.

Specifically, after the communication connection is established between the unmanned aerial vehicle and the control terminal, in a working channel of a communication network between the unmanned aerial vehicle and the control terminal, information transmission can be performed between the unmanned aerial vehicle and the control terminal through a transmission data transmission frame, for example, the control terminal can use uplink data of the unmanned aerial vehicle to transmit a data transmission frame carrying a control instruction, so that the unmanned aerial vehicle can perform related flight control according to the control instruction, and the unmanned aerial vehicle can also use downlink data of the unmanned aerial vehicle to transmit a data transmission frame carrying image data, so that the control terminal can acquire the image data related to the unmanned aerial vehicle.

In this embodiment, after the processor inserts one or more supervision information segments of the preset number of supervision information segments into each frame of the data transmission frame with the preset number of frames, the transmitter may be used to transmit the data transmission frame with the preset number of frames in a working channel of a communication network between the unmanned aerial vehicle and the control terminal.

Specifically, the connection based on the wired communication network is not favorable for flight control of the unmanned aerial vehicle, preferably, in this embodiment, the communication network between the unmanned aerial vehicle and the control terminal may be a wireless communication network, and under the wireless communication network, the unmanned aerial vehicle and the control terminal may customize a wireless link transmission protocol, and may transmit a data transmission frame of a preset frame number in a working channel of the communication network between the unmanned aerial vehicle and the control channel based on the wireless link transmission protocol.

In a communication network between the drone and the control terminal, there may be a plurality of working channels, and the drone or the control terminal may select one of the working channels to transmit a data transmission frame. In practical application, when the transmitter is used for transmitting a data transmission frame, the transmitting power of the transmitter can be adjusted, so that the data transmission frame can be transmitted within the frequency band width of a working channel of a communication network between the unmanned aerial vehicle and the control terminal when being transmitted.

It can be understood that, in this embodiment, the communication protocol between the drone and the control terminal may be other existing transmission protocols except for customization, as long as the sending of the data transmission frame can be realized, and the specific details are not limited herein.

In this embodiment, the processor and/or the transmitter may be configured on the drone or on the control terminal, which is not limited herein. Since the management frame sent by the control terminal is easily blocked by vegetation, buildings, mountains, and the like, preferably, the processor and/or the transmitter may be configured on the drone, and the data transmission frame is sent using the downlink data of the drone.

In the embodiment of the invention, the unmanned aerial vehicle splits the supervision information into supervision information segments, the supervision information segments can be inserted into a plurality of data transmission frames, and the data transmission frames can be sent in a working channel of a communication network between the unmanned aerial vehicle and the control terminal, and the supervision equipment can scan the working channel of the communication between the unmanned aerial vehicle and the control terminal by using the detector so as to obtain the data transmission frames with the supervision information.

Based on the embodiment shown in fig. 2, the following embodiment will be described with the drone as the execution subject, i.e., when the processor and the transmitter are configured on the drone, and the data transmission frame is sent in the working channel of the communication network between the drone and the control terminal.

It will be appreciated that, with respect to the format of the data transmission frame, the piece of supervision information when inserted in the data transmission frame may, optionally, select a particular field inserted in the data transmission frame that may be used for attaching a field of the customization information. Further, in the present invention, the specific field may be a control channel field, and the control channel field is a field used for transmitting signaling or synchronization data in the data transmission frame, and the control channel field may be different based on a difference in communication modes of the communication network between the drone and the control terminal, and the following description is separately given:

when the communication mode is TDD mode, the control channel field is FCH field

Referring to fig. 3, another embodiment of the method for supervising an unmanned aerial vehicle according to the embodiment of the present invention includes:

301. acquiring the supervision information of the unmanned aerial vehicle;

in this embodiment, in order to be favorable to realizing unmanned aerial vehicle's supervision, at unmanned aerial vehicle's flight in-process, unmanned aerial vehicle can acquire unmanned aerial vehicle's supervision information.

Specifically, the supervision information in this embodiment, as the information indicating the relevant parameters of the drone, may include, but is not limited to, one or more of identity information, location information, flight parameter information, flight attitude information, owner information, purchase time information, purchase location information, historical flight trajectory information, hardware configuration information, check position information of the drone, and location information of the control terminal.

The identity information may include, but is not limited to, a manufacturer identifier and a model of the drone; the position information of the unmanned aerial vehicle can include but is not limited to at least one of current position information of the unmanned aerial vehicle and position information of the unmanned aerial vehicle during takeoff; flight parameter information may include, but is not limited to, at least one of maximum speed of flight, maximum altitude of flight, and current airspeed; the attitude information may include, but is not limited to, at least one of roll angle, pitch angle, and yaw angle; the hardware configuration information may include at least, but is not limited to, configuration information of a payload of the drone; the check bit information can be a Cyclic Redundancy Check (CRC) code; the position information of the control terminal may include, but is not limited to, at least one of position information when the unmanned aerial vehicle takes off and position information output by a positioning device on the control terminal.

In practical application, unmanned aerial vehicle acquires unmanned aerial vehicle's supervision information's mode has the multiple, can gather by unmanned aerial vehicle by oneself, also can be located by external data source by unmanned aerial vehicle and acquire, specifically as follows:

1. unmanned aerial vehicle gathers by oneself: the unmanned aerial vehicle can be provided with a sensing system and a memory, wherein the sensing system can be used for acquiring current position information and/or flight attitude information of the unmanned aerial vehicle, the memory can store one or more of identity information of the unmanned aerial vehicle, the maximum flight speed and/or the maximum flight height in the flight parameter information, owner information, purchase time information, purchase place information, historical flight track information, hardware configuration information and position information of a control terminal, check bit information can be provided by the processor to realize check on other information, and the unmanned aerial vehicle can acquire the information stored in the memory through the processor.

Specifically, the sensing System may include a GNSS (Global Navigation Satellite System) device, the GNSS device may specifically be a GPS (Global Positioning System) device, and the GNSS device or the GPS device may realize Positioning of the unmanned aerial vehicle to acquire current position information of the unmanned aerial vehicle. The sensing system can further comprise an inertial measurement unit IMU, the IMU can rely on a gyroscope to acquire flight attitude information of the unmanned aerial vehicle and can also rely on a speed sensor to acquire the current flight speed of the unmanned aerial vehicle so as to determine the current flight state of the unmanned aerial vehicle.

It is understood that, in addition to the above description, in practical applications, the sensing system in this embodiment may also be an ultrasonic sensor, a radar wave sensor, a visual sensor (such as a camera), or a combination thereof, and the specific details are not limited herein.

Further, if the maximum flying speed and the maximum flying height in the flying parameter information are historical flying information of the unmanned aerial vehicle, the sensing system can be stored in a storage of the unmanned aerial vehicle after acquiring the position information and/or the flying attitude information so as to form historical flying track information of the unmanned aerial vehicle and the maximum flying speed and the maximum flying height accumulated by the unmanned aerial vehicle in the historical flying process. If the maximum flying speed and the maximum flying height in the flying parameter information are inherent parameters of the unmanned aerial vehicle, then, for the unmanned aerial vehicle, the identity information of the unmanned aerial vehicle, the maximum flying speed and/or the maximum flying height in the flying parameter information, and the hardware configuration information may be recorded in the memory before the unmanned aerial vehicle leaves the factory, or may be recorded by an owner of the unmanned aerial vehicle after the unmanned aerial vehicle leaves the factory, and then the owner information, the purchase time information, and the purchase location information of the unmanned aerial vehicle may be recorded after the unmanned aerial vehicle leaves the factory.

In above-mentioned supervision information, when unmanned aerial vehicle takes off, sensing system on the unmanned aerial vehicle can also acquire the position information when unmanned aerial vehicle takes off and save in the memory, if when unmanned aerial vehicle takes off, it is nearer apart from control terminal, then the position information when unmanned aerial vehicle takes off also can regard as control terminal's position information, otherwise, can be equipped with the locating device on the control terminal, so unmanned aerial vehicle can acquire the position information of control terminal's locating device output and save in the memory as control terminal's position information.

Furthermore, in addition to the body, the landing gear connected to the body, and the hardware configuration described above, the drone may be provided with other payloads, and specifically, the drone may be provided with different instruments for collecting visual data, such as various cameras for image and/or video capture, and depending on the type and use of the drone, the drone may be provided with payloads such as features related to agricultural tasks, transportation detection, sightseeing requests, and regions of interest, so as to implement functions related to the drone. Thus, hardware configuration information for the drone may also be stored in the memory of the drone to further characterize the relevant features of the drone.

2. The unmanned aerial vehicle can obtain supervision information from an external data source: wherein, on the one hand, unmanned aerial vehicle can acquire the supervisory information who uses unmanned aerial vehicle's uplink data to send in the working channel, under this condition, can gather unmanned aerial vehicle's supervisory information by control terminal, control terminal can utilize unmanned aerial vehicle's uplink data to send supervisory information to unmanned aerial vehicle for unmanned aerial vehicle can acquire the supervisory information that this control terminal sent. For example, can be equipped with sensing system on the control terminal, this sensing system can fix a position control terminal, and control terminal can use unmanned aerial vehicle's the last data of going up to send this control terminal's positional information to unmanned aerial vehicle after the positional information who acquires self sensing system collection.

On the other hand, optionally, the supervision information of the unmanned aerial vehicle may also be provided by the server or the cloud, that is, the control terminal may obtain the supervision information from the cloud or the server, and then the control terminal sends the supervision information to the unmanned aerial vehicle through the uplink data of the unmanned aerial vehicle. For example, the unmanned aerial vehicle sends its own serial number to the control terminal, the control terminal sends the serial number to the server or the cloud, the server can transfer the supervision information of the unmanned aerial vehicle according to the serial number, for example, owner information (register mailbox, telephone) of the unmanned aerial vehicle, the server sends the supervision information to the control terminal, and the unmanned aerial vehicle can acquire the supervision information from the control terminal.

It can be understood that, in addition to the above-described cases, in practical applications, the acquisition of the supervision information may also be acquired by the unmanned aerial vehicle, and part of the supervision information is acquired from an external data source, which is not limited herein.

It should be noted that, in practical application, according to the actual requirement of the supervision information and the transmission time node of the data transmission frame, the supervision information of the unmanned aerial vehicle may be acquired in real time, or may be acquired periodically, and the details are not limited herein.

Step 302 in this embodiment is the same as step 202 in the embodiment shown in fig. 2, and is not described here again.

303. Determining, by a processor, a sequence number of each of a preset number of pieces of supervisory information;

in this embodiment, after the unmanned aerial vehicle splits the supervision information into the preset number of pieces of supervision information by using the processor, the serial number of each of the preset number of pieces of supervision information can be further determined by using the processor.

Specifically, in order to facilitate the supervision equipment to combine scattered supervision information fragments to obtain complete supervision information, the sequence number of each supervision information fragment in the supervision information fragments of the preset number can be further determined by the processor after the unmanned aerial vehicle splits the whole supervision information into the supervision information fragments of the preset number by the processor, so that the supervision equipment can combine the supervision information fragments of the preset number by the sequence number to obtain complete supervision information.

For example, assuming that after the unmanned aerial vehicle splits a whole piece of regulatory information into 3 pieces of regulatory information by using the processor, the processor may be further used to determine sequence numbers, such as 1, 2, and 3, corresponding to the 3 pieces of regulatory information, then the 3 pieces of regulatory information may be combined with the corresponding sequence numbers according to the arrangement order of the pieces of regulatory information, such as a first piece of regulatory information and 1, a second piece of regulatory information and 2, and a third piece of regulatory information and 3, so that the corresponding piece of regulatory information may be determined according to the sequence numbers.

304. Inserting one or more supervision information segments in a preset number of supervision information segments and a sequence number corresponding to the supervision information segments into an FCH field in each frame of a data transmission frame with a preset frame number by using a processor;

in this embodiment, after the unmanned aerial vehicle determines the sequence number of each of the preset number of pieces of supervision information by using the processor, one or more pieces of supervision information in the preset number of pieces of supervision information and the sequence number corresponding to the piece of supervision information may be inserted into the FCH field in each frame of the data transmission frame of the preset number of frames by using the processor.

Specifically, the data transmission frame in this embodiment may include a specific field, where the specific field may be a control channel field, and in the TDD mode, the control channel field may be an FCH field in an uplink radio subframe or a downlink radio subframe in the data transmission frame. As shown in fig. 4, in the TDD mode, the Frame structure may be divided into an uplink radio subframe (UL) and a downlink radio subframe (DL), and the uplink radio subframe and the downlink radio subframe may be used to transmit uplink Data and downlink Data of the drone, respectively. Preferably, the piece of supervision information after supervision information splitting is inserted into a control channel Field (FCH) in the downlink radio subframe.

For example, assuming that the supervision information may include identity information (UAV ID) of the drone, location information (Home GPS) of the drone at takeoff, current location information (UAV GPS) of the drone, and check bit information (CRC), according to the specific content of the supervision information, after the drone splits the supervision information into 4 pieces of supervision information, UAV ID, Home GPS, UAV GPS, and CRC, the 4 pieces of supervision information and respective corresponding sequence numbers (pkgdix) may be respectively inserted into FCH fields of 4 data transmission frames, as shown in fig. 4, UAVID and corresponding pkgdix may be inserted into FCH fields of one data transmission frame. It should be noted that, in practical application, a preset number of pieces of supervision information and sequence numbers corresponding to the pieces of supervision information may also be inserted into the FCH field in the data transmission frame with a preset number of frames in other manners, and this kind of case that the sequence numbers corresponding to the pieces of supervision information are inserted into the data transmission frame at the same time may specifically refer to the three insertion manners of the pieces of supervision information described in step 203 in the embodiment shown in fig. 2, which is not described repeatedly nor limited herein.

Further, the Data field, i.e., the Data field, in the Data transmission frame, as shown in fig. 4 (Data1, Data2 to Datan) may include work Data information of the drone, which may include at least image Data information collected by an imaging device on the drone, such as photo information or real-time video information taken by a camera on the drone, when the piece of supervision information is inserted into the downlink wireless subframe. The monitoring equipment only needs to acquire the monitoring information fragment of the FCH field in the data transmission frame, the working data information of the data field in the data transmission frame can be monitored as required by the control terminal, the working data information in the data field can be encrypted and set, the encryption rule of the working data information can be known by the control terminal if the working data information is encrypted and set, and therefore the control terminal can decrypt the encrypted working data information.

In practical application, because different information is inserted into the FCH field and the Data field, and the modulation mode of the FCH field may be different from that of the Data field, the FCH field and the Data field may not be affected by each other. The modulation mode of the FCH field may be a low order modulation mode, and the modulation mode of the data field may be a high order modulation mode.

Furthermore, in the TDD mode, in order to meet the requirement of low latency, the slot length of the uplink radio subframe and the downlink radio subframe may be less than 10 milliseconds, and optionally, the slot length of the uplink radio subframe may be less than the slot length of the downlink radio subframe, so that the high efficiency of data transmission of a working channel of a communication network between the monitoring drone and the control terminal may be ensured.

It should be noted that, in this embodiment, the content of identifying the supervision information segment in the FCH field by using the sequence number corresponding to the supervision information segment in the data transmission frame is only an example, and in practical application, when the supervision information segment obtained by splitting the supervision information is inserted into the FCH field of the data transmission frame, the sequence identification may also be performed on the transmitted data transmission frame, so that the supervision device may combine the supervision information segments in the FCH field according to the sequence identification of the data transmission frame to obtain the supervision information, which is not limited herein.

305. And transmitting the data transmission frame with the preset frame number by using the downlink data of the unmanned aerial vehicle in a working channel of a communication network between the unmanned aerial vehicle and the control terminal by using the transmitter.

In this embodiment, after the unmanned aerial vehicle inserts one or more supervision information segments of the preset number of supervision information segments and the sequence number corresponding to the supervision information segments into the FCH field of each frame of the data transmission frame of the preset frame number by using the processor, the data transmission frame of the preset frame number may be transmitted by using the downlink data of the unmanned aerial vehicle in the working channel of the communication network between the unmanned aerial vehicle and the control terminal by using the transmitter.

Specifically, in a channel list provided in a communication network between the drone and the control terminal, the drone may transmit a data transmission frame of a preset frame number on any one working channel on the channel list by using the transmitter. However, different working channels have corresponding working states, the working states are inconsistent, and the quality of the working channels is inconsistent. Therefore, in order that the drone may transmit the data transmission frame in the working channel with better channel quality, the drone may use the processor to acquire the working state of each of the plurality of working channels of the communication network between the drone and the control terminal.

In this embodiment, the operating state of the operating channel may at least include the current bandwidth of the operating channel. In practical application, each working channel equipped in a communication network between the unmanned aerial vehicle and the control terminal occupies a certain bandwidth, the bandwidths of the working channels are inconsistent, and the transmission rates of the working channels are also inconsistent. For example, assuming that the frequency band width of 5GHZ is 100MHZ in total, and the frequency band width is divided into 10 operating channels that do not interfere with each other on average, then the bandwidth of each operating channel is 10MHZ, and when there may be an overlap phenomenon between several operating channels, the frequency band width of 5GHZ may be divided into more than 10 operating channels that interfere with each other under the condition that the bandwidth of each operating channel is 10 MHZ. Therefore, based on the division of the working channels, the difference of the communication protocols, and the usage of the working channels, the drone may use the processor to obtain the current bandwidth of each of the plurality of working channels of the communication network between the drone and the control terminal, so as to make an appropriate selection of the plurality of working channels.

It is understood that, in addition to the current bandwidth of the working channel described above, in practical applications, the working state of the working channel in this embodiment may also include other parameters, such as the current capacity, the current throughput, the current error rate, and the like of the working channel, which is not limited herein.

Further, after the processor is used for obtaining the working state of each working channel in a plurality of working channels of a communication network between the unmanned aerial vehicle and the control terminal, the processor can be used for selecting one working channel for sending the data transmission frame according to the working state. Specifically, after the unmanned aerial vehicle acquires the working state of each working channel in the plurality of working channels by using the processor, one working channel with the best working state can be selected as the working channel for sending the data transmission frame. In practical applications, the related parameters in the operating state of each operating channel may also be compared, so as to select one operating channel with better related parameters from the multiple operating channels as the operating channel for sending the data transmission frame, for example, select one operating channel with a lower error rate at the present time of the operating channel, or select one operating channel with no overlapping state and the best operating state as the operating channel for sending the data transmission frame, so as to reduce signal interference, or select one operating channel with the largest bandwidth to send the data transmission frame.

It can be understood that, in order to prevent the use of different devices from being repeated in a crossing manner and the use safety of the drone, in practical application, a suitable working channel should be selected within a frequency band range that the drone can use according to the specific use range and the used communication network of the drone, for example, the frequency bands of 840.5MHz to 845MHz, 1430MHz to 1444MHz, and 2408MHz to 2440MHz are planned in China for the unmanned aircraft system.

In view of the above selection of the working channel of the communication network between the drone and the control terminal, in this embodiment, the drone may transmit a preset number of data transmission frames in the selected working channel by using the transmitter.

Further, based on the description of the above embodiment, optionally, in the sending process of the data transmission frame, in order to prevent the data transmission frame from being damaged by the frame listening device other than the monitoring device, which steals the monitoring information of the unmanned aerial vehicle, the safety protection of the monitoring information of the unmanned aerial vehicle may be enhanced.

Specifically, after the unmanned aerial vehicle acquires the supervision information, the processor can be used for encrypting the supervision information according to a preset encryption rule, and the encrypted supervision information can be split into a preset number of supervision information segments to be inserted into the FCH field of the data transmission frame, so that the supervision information of the unmanned aerial vehicle cannot be obtained through analysis even after the data transmission frame is stolen. It can be understood that the preset encryption rule can be an encryption rule known by the supervisory device of the unmanned aerial vehicle, so that the supervisory device can decrypt the encrypted supervisory information through the known preset encryption rule after scanning the data transmission frame, and utilize the decrypted supervisory information to supervise the unmanned aerial vehicle.

Secondly, when the communication mode is the FDD mode, the control channel field is the PDCCH field

FDD (Frequency Division duplex) is another full duplex communication technology used in mobile communication systems, corresponding to TDD. FDD uses two independent channels for downward and upward information transmission, and in FDD mode, on two separated symmetric frequency channels, a guard band is used to separate the reception and transmission channels.

Referring to fig. 5, another embodiment of the method for supervising an unmanned aerial vehicle according to the embodiment of the present invention includes:

steps 501 to 503 in this embodiment are the same as steps 301 to 303 in the embodiment shown in fig. 3, and are not described again here.

504. Inserting one or more supervision information fragments in a preset number of supervision information fragments and a sequence number corresponding to the supervision information fragments into a PDCCH field in each frame of a data transmission frame with a preset frame number by using a processor;

in this embodiment, after the unmanned aerial vehicle determines the sequence number of each of the preset number of pieces of supervision information by using the processor, one or more pieces of supervision information and the sequence number corresponding to the piece of supervision information in the preset number of pieces of supervision information may be inserted into the PDCCH field in each frame of the data transmission frame with the preset number of frames by using the processor.

Specifically, the data transmission frame in this embodiment may include a specific field, and the specific field may be a control channel field, and in the FDD mode, the control channel field may be a PDCCH field in an uplink radio subframe or a downlink radio subframe in the data transmission frame. As shown in fig. 6, in the FDD mode, one subframe, that is, one radio subframe may include an S-SCH (secondary synchronization signal) field, a PCFICH (Physical Control Format Indicator Channel) field, a PHICH (Physical hybrid automatic repeat Indicator Channel) field, a PDCCH (Physical Downlink Control Channel) field, a P-SCH (primary synchronization signal) field, a PDSCH (Physical Downlink Shared Channel) field, a PBCH (Physical broadcast Channel) field, and a Reference Symbols field, and according to different roles of the above fields, a PDCCH field of a data transmission frame may be inserted with an information fragment and a sequence number corresponding to the supervision information fragment. Preferably, the monitoring information fragments after the monitoring information splitting are inserted into a control channel field (PDCCH) in the downlink radio subframe.

For example, assuming that the supervision information may include identity information (UAV ID) of the drone, location information (Home GPS) of the drone at takeoff, current location information (UAV GPS) of the drone, and check bit information (CRC), after splitting the supervision information into 4 pieces of supervision information, UAV ID, Home GPS, UAV GPS, and CRC, the 4 pieces of supervision information and respective corresponding sequence numbers (Pkg idx) may be inserted into PDCCH fields of 4 radio subframes, respectively, as shown in fig. 4, and the UAV ID and corresponding Pkg idx may be inserted into PDCCH fields of one radio subframe. It should be noted that, in practical applications, a preset number of pieces of supervision information and sequence numbers corresponding to the pieces of supervision information may also be inserted into PDCCH fields in radio subframes with a preset number of frames in other manners, and this kind of case that the sequence numbers corresponding to the pieces of supervision information are inserted into data transmission frames at the same time may specifically refer to three insertion manners of the pieces of supervision information described in step 203 in the embodiment shown in fig. 2, which are not described repeatedly nor limited herein.

Further, in this embodiment, the PDSCH field, i.e. the data field, of the wireless sub-frame, as shown in fig. 6, the PDSCH field may include working data information of the drone, and when the supervision information segment is inserted into the downlink wireless sub-frame, the working data information may include at least image data information collected by an imaging device on the drone, such as photo information or real-time video information taken by a camera on the drone. The monitoring equipment only needs to acquire the monitoring information fragment of the PDCCH field in the downlink wireless subframe in the data transmission frame, the working data information of the data field in the downlink wireless subframe can be required by the control terminal, so that the working data information in the data field can be encrypted and set, or not, if the working data information is encrypted and set, the encryption rule of the working data information can be known by the control terminal, so that the control terminal can decrypt the encrypted working data information.

In practical application, because different information is inserted into the PDCCH field and the PDSCH field, and the modulation mode of the PDCCH field may be different from that of the data field, the PDCCH field and the data field may not be affected by each other. The modulation mode of the PDCCH field may be a low order modulation mode, and the modulation mode of the data field may be a high order modulation mode.

In this embodiment, in the FDD mode, the contents of the part of the operation data information in the data field and the modulation modes of the FDCCH field and the data field may refer to the contents of the part described in step 304 in the embodiment shown in fig. 3, and are not described herein again.

Furthermore, in order to meet the requirement of low latency, the length of the subframe in the frame structure in the FDD mode can be controlled to be in the order of milliseconds, so that the high efficiency of the supervisory device scanning the working channel of the communication network between the unmanned aerial vehicle and the control terminal can be ensured, and the real-time performance and the capturing speed of the supervisory device acquiring the data transmission frame can be ensured.

It should be noted that, in this embodiment, the content of identifying the supervision information fragment in the PDCCH field by using the sequence number corresponding to the supervision information fragment in the data transmission frame is only an example, and in practical application, when the supervision information fragment obtained by splitting the supervision information is inserted into the PDCCH field of the data transmission frame, the sequence identification may also be performed on the transmitted data transmission frame, so that the supervision device may combine the supervision information fragments in the PDCCH field according to the sequence identification of the data transmission frame to obtain the supervision information, which is not limited herein.

Step 505 in this embodiment is the same as step 305 in the embodiment shown in fig. 3 except that the FCH field is replaced by the PDCCH field of the FDD mode data transmission frame, and is not described again here.

It should be noted that, because the supervision information is inserted into the control channel field of the data transmission frame, the supervision device only needs to demodulate the data in the control channel field, and does not need to analyze the data in the data field of the data transmission frame, so that on one hand, the user privacy of the unmanned aerial vehicle user can be ensured, on the other hand, the data in the data field is often encrypted, and the supervision device does not need to crack the data field to obtain the information of the unmanned aerial vehicle, thereby reducing the difficulty of supervision by the unmanned aerial vehicle.

In the above, the method for controlling an unmanned aerial vehicle in the embodiment of the present invention is described from the perspective of the side of the unmanned aerial vehicle, and in the following, the method for supervising an unmanned aerial vehicle in the embodiment of the present invention is described from the perspective of the side of the supervisory device, please refer to fig. 7, where an embodiment of the method for supervising an unmanned aerial vehicle in the embodiment of the present invention includes:

701. scanning a working channel of a communication network between the unmanned aerial vehicle and the control terminal by using a detector;

in this embodiment, in order to acquire the supervision information of the unmanned aerial vehicle, the supervision device can supervise the unmanned aerial vehicle, and can scan a working channel of a communication network between the unmanned aerial vehicle and the control terminal by using the detector.

Specifically, can be equipped with the detector on the supervisory equipment, the detector can be at the working channel of the communication network between unmanned aerial vehicle and the control terminal on the cycle scanning to whether detect unmanned aerial vehicle and send the data transmission frame that has inserted unmanned aerial vehicle's supervision information in working channel. Based on the flight control of the control terminal to the unmanned aerial vehicle and the flight characteristics of the unmanned aerial vehicle, the communication network between the unmanned aerial vehicle and the control terminal can be a wireless communication network. In practical applications, in order to facilitate the supervision of the drone by the supervision device, the communication network between the drone and the control terminal may be known to the supervision device. Thus, the supervising device may scan the working channels of the known communication network with the probe.

It is understood that in this embodiment, the communication connection between the drone and the control terminal may be connected to the control terminal through any one of, but not limited to, WI-FI, bluetooth, Software Defined Radio (SDR), a customized modulation method, or a communication protocol, and then the monitoring device may further scan a working channel used when the drone is connected to the control terminal through bluetooth using a detector, which is not limited herein.

702. Acquiring a data transmission frame with a preset frame number sent by the unmanned aerial vehicle by using a detector;

in this embodiment, after the supervisory device scans a working channel of a communication network between the unmanned aerial vehicle and the control terminal by using the detector, when the unmanned aerial vehicle is within a detection range of the detector, the data transmission frame with a preset frame number sent from the unmanned aerial vehicle can be acquired by using the detector, wherein each frame in the data transmission frame with the preset frame number can include one or more pieces of supervisory information of the unmanned aerial vehicle.

Specifically, based on the mode that the unmanned aerial vehicle inserts the supervision information piece into the data transmission frame, correspondingly, the mode that the supervision equipment acquires the data transmission frame is as follows:

1. if the unmanned aerial vehicle splits the whole supervision information and inserts the split supervision information into one data transmission frame, the supervision equipment can acquire the data transmission frame sent by the unmanned aerial vehicle with one frame number by using the detector every time, and then complete supervision information can be obtained.

2. If the unmanned aerial vehicle splits the whole supervision information and inserts the split supervision information into the data transmission frame with the preset frame number, the supervision equipment needs to acquire the data transmission frame sent by the unmanned aerial vehicle with the preset frame number by using the detector every time, wherein each data transmission frame can have at least one supervision information fragment, and then a complete supervision information can be obtained.

703. And combining the supervision information fragments in each frame of the data transmission frames with the preset frame number by using the processor to obtain the supervision information.

In this embodiment, after the monitoring device acquires the data transmission frames of the preset frame number sent from the unmanned aerial vehicle by using the detector, the processor may combine the monitoring information segments in each frame of the data transmission frames of the preset frame number to obtain the monitoring information.

Specifically, based on the manner of acquiring the data transmission frame in step 702, the manner of acquiring the supervision information by the supervision device is as follows:

1. if a preset number of supervision information segments are inserted into one data transmission frame, the supervision device can demodulate the data transmission frame by using the processor after acquiring the data transmission frame by using the detector to obtain the preset number of supervision information segments, and can combine the preset number of supervision information segments in a preset manner, so that complete supervision information can be obtained.

2. If the whole piece of supervision information is split and then inserted into the data transmission frame with the preset frame number, the supervision equipment scans a working channel between the unmanned aerial vehicle and the control terminal by using the detector, after the data transmission frame with the preset frame number is obtained, the data transmission frame with the preset frame number can be demodulated by using the processor, the supervision information fragments with the preset number are obtained, and the supervision information fragments with the preset number can be combined according to a preset mode to obtain complete supervision information.

It can be understood that, in this embodiment, if the communication mode of the communication network between the unmanned aerial vehicle and the control terminal is the TDD mode or the FDD mode, the monitoring device may obtain the monitoring information segment at the specific insertion position of the data transmission frame according to the monitoring information segment based on the TDD mode or the FDD mode after obtaining the data transmission frame sent by the unmanned aerial vehicle in the working channel of the communication network between the unmanned aerial vehicle and the control terminal.

Optionally, since a specific field in the data transmission frame may be used for attaching custom information, the piece of supervision information of the drone may be inserted into the specific field in the data transmission frame, which is specifically described below:

referring to fig. 8, another embodiment of the method for supervising an unmanned aerial vehicle according to the embodiment of the present invention includes:

801. scanning a plurality of working channels of a wireless communication network between the unmanned aerial vehicle and the control terminal by using a detector;

in this embodiment, after the supervision device is started, a plurality of working channels of the communication network between the unmanned aerial vehicle and the control terminal can be scanned by using the detector.

Specifically, after unmanned aerial vehicle and control terminal establish communication connection, the communication network that corresponds can have a plurality of working channels to supply unmanned aerial vehicle and control terminal transmission data, because different unmanned aerial vehicles probably use different working channels, and it is unclear that unmanned aerial vehicle specifically uses a certain working channel, supervisory equipment can utilize the detector to scan a plurality of working channels so to realize the supervision to one or more unmanned aerial vehicle. In practical applications, the manner in which the supervisory device scans a plurality of operating channels with the probe may be different, specifically as follows:

1. scanning a plurality of working channels of a communication network between the unmanned aerial vehicle and the control terminal by using a detector in turn: the monitoring device is provided with a detector, and the detector can perform cyclic scanning on a plurality of working channels in turn, for example, if the communication network between the unmanned aerial vehicle and the control terminal is assumed to be based on, the working channels that the unmanned aerial vehicle can use are working channel 1, working channel 2 and working channel 3, then the monitoring device can perform cyclic scanning on working channel 1, working channel 2 and working channel 3 in turn by using the detector.

2. Assigning a plurality of working channels to a plurality of detectors, each of the plurality of detectors scanning a predetermined number of working channels: supervisory equipment can be equipped with a plurality of detectors, and the working channel of predetermineeing the number can be scanned to each detector to the scanning to a plurality of channels is realized, for example, supposing based on the communication network between unmanned aerial vehicle and the control terminal, a plurality of working channel that unmanned aerial vehicle can use are 10 working channel, has 5 detectors on the supervisory equipment, and then each detector can scan 2 working channel respectively in turn. It should be noted that, in this embodiment, when there are multiple detectors, the preset number of working channels scanned by each detector may be inconsistent, for example, one detector may scan 2 working channels in turn, and another detector may scan 3 working channels in turn, which is merely an example and is not limited herein.

Based on the second scanning manner, further, in this embodiment, the multiple detectors may be disposed on one monitoring device, the multiple detectors may be configured in different areas, and the multiple detectors may be connected with the processor of the monitoring device through a wired or wireless connection.

In addition, through the multi-detector sub-band coverage, the capture time of the receiving supervisory equipment to the data transmission frame can be reduced, the redundant backup function can be realized, and under the condition that the receiving channel of one of the detectors is damaged, the receiving channels of the rest detectors can be used for realizing full-band coverage, so that the reliability of the supervisory equipment is improved.

Wherein, the limit flight district is the region of restriction unmanned aerial vehicle flight, specifically can refer to current specification, and this is no longer repeated here.

802. Acquiring a data transmission frame with a preset frame number sent by the unmanned aerial vehicle by using a detector;

in this embodiment, after the monitoring device scans a plurality of working channels of the wireless communication network between the unmanned aerial vehicle and the control terminal by using the detector, the data transmission frame with the preset frame number sent from the unmanned aerial vehicle can be acquired by using the detector, wherein each frame in the data transmission frame with the preset frame number can include one or more monitoring information segments of the monitoring information of the unmanned aerial vehicle and a sequence number corresponding to the one or more monitoring information segments.

The manner of acquiring the data transmission frame in this embodiment may refer to the content described in step 702 in the embodiment shown in fig. 7, and is not described herein again.

803. And combining the supervision information fragments in the specific field in each frame of the data transmission frames with the preset frame number by using the processor according to the sequence number in a preset mode to obtain the supervision information.

In this embodiment, after the monitoring device acquires the data transmission frame of the preset frame number sent from the unmanned aerial vehicle by using the detector, the processor may combine the monitoring information segments in the specific fields in each frame of the data transmission frame of the preset frame number according to the serial number in a preset manner to obtain the monitoring information.

Specifically, in order to facilitate the combination of the preset number of pieces of supervision information, if each piece of supervision information corresponds to one serial number in each data transmission frame, after the supervision device acquires the data transmission frame with the preset number of frames by using the detector, the supervision device may demodulate the data transmission frame with the preset number of frames by using the processor (at least one piece of supervision information may be present in each data transmission frame), so as to obtain the preset number of pieces of supervision information and serial numbers corresponding to the pieces of supervision information, and may combine the preset number of pieces of supervision information according to the serial numbers to obtain a complete piece of supervision information. For example, assuming that the unmanned aerial vehicle splits a complete piece of supervision information into 3 pieces of supervision information, and these 3 pieces of supervision information and

corresponding sequence numbers

1, 2, and 3 are respectively inserted into specific fields of 3 data transmission frames, then the supervision device demodulates the 3 data transmission frames by using the processor, and then arranges and combines the obtained 3 pieces of supervision information according to the

sequence numbers

1, 2, and 3 to obtain a complete piece of supervision information.

It can be understood that, in this embodiment, the content of combining the multiple pieces of supervision information is only an example, and in practical application, the supervision device may further perform corresponding combination on the multiple pieces of supervision information based on the insertion manner and the corresponding identifier of the multiple pieces of supervision information in the data transmission frame by the unmanned aerial vehicle, for example, assuming that the unmanned aerial vehicle can perform sequence identification on the data transmission frame, if after a complete piece of supervision information is split into 3 pieces of supervision information, the unmanned aerial vehicle inserts the 3 pieces of supervision information in the data transmission frame 1, the data transmission frame 2, and the data transmission frame 3 according to the sequence identification of the data transmission frame, the supervision device may combine the multiple pieces of supervision information according to the sequence identification of each data transmission frame, which is not limited herein.

Further, since the control channel field in the data transmission frame may be a field for transmitting signaling or synchronization data, the specific field may be a control channel field. Based on this, the supervisory device can obtain the piece of supervisory information of the drone from the decoded control channel field in the data transmission frame to obtain complete supervisory information, and since the communication mode of the communication network between the drone and the control terminal may be TDD mode or FDD mode, the control channel field may be different, so the way in which the supervisory device obtains supervisory information from data transmission will be different:

1. the communication mode of the communication network between the unmanned aerial vehicle and the control terminal is a TDD mode

Specifically, in the TDD mode, the supervisory device continuously supervises the working channels of the unmanned aerial vehicle and the control terminal to acquire the data transmission frame with the preset frame number, demodulate the data transmission frame with the preset frame number, acquire the supervisory information segment and the corresponding sequence number pkidx in the FCH field of the data transmission frame, and combine the supervisory information segments with the preset number by using the sequence number pkidx to obtain the supervisory information of the unmanned aerial vehicle. Specifically, after the supervision information segments and the corresponding sequence numbers pkidx are obtained in the FCH field in the downlink wireless sub-frame of the data transmission frame, the sequence numbers pkidx are used to combine the preset number of supervision information segments, so as to obtain the supervision information of the unmanned aerial vehicle.

2. The communication mode of the communication network between the unmanned aerial vehicle and the control terminal is an FDD mode

Specifically, in the FDD mode, the supervisory device may also continuously supervise the working channel between the unmanned aerial vehicle and the control terminal, so as to acquire the data transmission frame with the preset frame number, demodulate the data transmission frame with the preset frame number, acquire the supervisory information segment and the corresponding Pkg idx in the PDCCH field of the data transmission frame, and combine the supervisory information segments with the preset number to obtain the supervisory information of the unmanned aerial vehicle. Specifically, after the supervision information segments and the corresponding pkidx are obtained in the PDCCH field of the downlink radio subframe in the data transmission frame, the preset number of supervision information segments are combined by using the pkidx, so as to obtain the supervision information of the unmanned aerial vehicle.

Further, the data transmission frame acquired by the supervisory device may further include a data field. In the TDD mode, the Data field in the Data transmission frame is the Data field, and in the FDD mode, the Data field in the Data transmission frame is the PDSCH field. The data field may include therein working data information, which may include at least image data information captured by an imaging device of the drone, such as photo information or real-time video information taken by a camera on the drone. In practical application, the modulation mode of the control channel field in the data transmission frame is different from the modulation mode of the data field, wherein the modulation mode of the control channel field may be a low order modulation mode, and the modulation mode of the data field may be a high order modulation mode, so that the control channel field and the data field may not be affected by each other.

It can be understood that, in this embodiment, what the supervisory device needs to acquire is the supervisory information of the drone, and then the supervisory device may perform corresponding demodulation on the control channel field in the data transmission frame to obtain the supervisory information. And the data field can deposit the working data information, wherein whether the working data information in this data field encrypts, can not influence supervisory equipment and obtain unmanned aerial vehicle's supervisory information.

In this embodiment, the monitoring information of the drone acquired by the monitoring device may include, but is not limited to, one or more of identity information, location information, flight parameter information, flight attitude information, owner information, purchase time information, purchase location information, historical flight trajectory information, hardware configuration information, check bit information of the drone, and location information of the control terminal. Through the acquisition to supervision information, supervisory equipment can know unmanned aerial vehicle's relevant parameter, realizes the supervision to unmanned aerial vehicle better, for example, through the positional information who acquires unmanned aerial vehicle in the supervision information, can realize the location to unmanned aerial vehicle.

Further, based on the description of the above embodiment, optionally, the supervisory equipment may be provided with a display, and the supervisory information of the unmanned aerial vehicle may be displayed on the display, so as to visually and clearly represent the information of the relevant parameters of the unmanned aerial vehicle to the supervisory user. It is understood that the manner of displaying the supervision information on the display may be various, such as a list, and is not limited herein.

Furthermore, after the supervision equipment acquires the supervision information, the risk level of the unmanned aerial vehicle can be further evaluated by the processor according to the supervision information, so that different emergency measures can be formulated or started according to the risk level of the unmanned aerial vehicle, and the unmanned aerial vehicle with different risk levels can be distinguished and safely supervised.

Specifically, the danger level can be used for describing the current safety degree of unmanned aerial vehicle, and the higher the danger level is, the larger the security threat that unmanned aerial vehicle received will be, the more be unfavorable for supervisory equipment to unmanned aerial vehicle's supervision. In this implementation, supervisory equipment can utilize the treater to confirm the positional information in the supervisory information, and can utilize positional information to assess unmanned aerial vehicle's danger level, for example, the treater can further confirm unmanned aerial vehicle's flight path according to unmanned aerial vehicle's positional information, then through the analysis to unmanned aerial vehicle's flight path and with the contrast of preset flight path, can judge whether unmanned aerial vehicle deviates from preset flight path, if the degree of deviation is bigger, danger level is higher, like the treater can carry out intrusion detection such as limit flight district to unmanned aerial vehicle according to unmanned aerial vehicle's positional information again, if unmanned aerial vehicle is closer to limit flight district, danger level will be higher.

It should be noted that, in this embodiment, the manner that the supervisory device utilizes the processor to evaluate the risk level of the drone may also be implemented in other manners besides the content described above, in practical applications, as long as the risk level of the drone can be evaluated, for example, because the detector may be configured in different areas, the processor may be utilized to acquire the position of the detector to determine whether the drone is located in an illegal operation area, so as to evaluate the risk level of the drone, and the details are not limited herein.

It can be understood, in practical application, can also be equipped with the remote supervision platform with supervisory equipment communication connection, as shown in fig. 9, assume that there is unmanned aerial vehicle 1, unmanned aerial vehicle 2, unmanned aerial vehicle 3, it corresponds, there can be control terminal 1 with unmanned aerial vehicle 1 communication connection, control terminal 2 with unmanned aerial vehicle 2 communication connection, control terminal 3 with unmanned aerial vehicle 3 communication connection, and supervisory equipment 1 of supervision unmanned aerial vehicle 1, supervisory equipment 2 of supervision unmanned aerial vehicle 2, supervisory equipment 3 of supervision unmanned aerial vehicle 3, then supervisory equipment 1, supervisory equipment 2, supervisory equipment 3 all can with remote supervision platform communication connection, this remote supervision platform can acquire the supervisory information that a plurality of supervisory equipment obtained, in order to realize the total supervision to a plurality of unmanned aerial vehicles. Therefore, based on the embodiment shown in fig. 8, referring to fig. 10, another embodiment of the unmanned aerial vehicle monitoring method in the embodiment of the present invention includes:

steps 1001 to 1003 in this embodiment are the same as steps 801 to 803 in the embodiment shown in fig. 8, and are not described again here.

1004. And sending the supervision information to a remote supervision platform by using the processor.

In this embodiment, after the supervisory equipment utilizes the treater to acquire unmanned aerial vehicle's supervisory information, can also utilize the treater to send supervisory information to remote supervisory platform.

Specifically, the supervision equipment demodulates the data transmission frame with the preset frame number by utilizing the processor, and after the supervision information is obtained by combining the supervision information fragments with the preset number, the processor can be utilized to further send the supervision information to the remote supervision platform, so that the unified management of the remote supervision platform on the supervision equipment is realized, and the remote supervision on the unmanned aerial vehicle can be realized. Further, in this embodiment, in order to enhance the security protection of the supervision information of the unmanned aerial vehicle, optionally, the unmanned aerial vehicle may encrypt the supervision information of the unmanned aerial vehicle by using a preset encryption rule, and may split the encrypted supervision information into a preset number of supervision information fragments to be inserted into a preset number of data transmission frames, so that after the supervision device acquires the preset number of data transmission frames, if the supervision information fragments in the detected data transmission frames are the encryption information fragments, the preset number of supervision information fragments may be decrypted by using a preset decryption rule (the preset decryption rule may be set according to the preset encryption rule of the supervision information), and the supervision information obtained by combining the decrypted supervision information is sent to the remote supervision platform.

It should be noted that, in the embodiment, in addition to the content described above, in practical applications, the monitoring device may also use the processor to combine the monitoring information pieces with the preset number, and then decrypt the monitoring information pieces to obtain the monitoring information, which is not limited in this time.

It can be understood that, in the present embodiment, for the preset decryption rule of the monitoring information, reference may be made to the prior art corresponding to the preset encryption rule of the monitoring information, and details are not described here again.

In the above description of the unmanned aerial vehicle control method and the unmanned aerial vehicle monitoring method in the embodiment of the present invention, the control device and the monitoring device in the embodiment of the present invention are respectively described in terms of hardware processing, please refer to fig. 11, and an embodiment of the control device in the embodiment of the present invention includes:

a transmitter 1101 and a processor 1102 (wherein the number of the processors 1102 may be one or more, and one processor 1102 is taken as an example in fig. 11).

The processor 1102 is configured to acquire supervision information of the unmanned aerial vehicle; splitting the supervision information into a preset number of supervision information fragments; inserting one or more supervision information segments in a preset number of supervision information segments into each frame of a data transmission frame with a preset number of frames;

a transmitter 1101, configured to send a preset number of data transmission frames in an operating channel of a communication network between the drone and the control terminal.

Optionally, in some embodiments of the present invention, the processor 1102 may be further configured to:

determining the sequence number of each of a preset number of pieces of supervision information;

one or more supervision information segments in a preset number of supervision information segments and sequence numbers corresponding to the supervision information segments are inserted into each frame of a data transmission frame with a preset number of frames.

one or more supervision information segments in the preset number of supervision information segments and sequence numbers corresponding to the supervision information segments are inserted into specific fields in each frame of a data transmission frame with the preset number of frames.

Optionally, in some embodiments of the present invention, the transmitter 1101 may be further configured to:

and sending a data transmission frame by using the downlink data of the unmanned aerial vehicle in the working channel.

acquiring supervision information transmitted by using uplink data of an unmanned aerial vehicle in a working channel;

the transmitter 1101 may be further configured to:

encrypting the supervision information according to a preset encryption rule, wherein the preset encryption rule is an encryption rule known by supervision equipment of the unmanned aerial vehicle;

and splitting the encrypted supervision information into a preset number of supervision information fragments.

In this embodiment, after the processor 1102 acquires the supervision information of the unmanned aerial vehicle and splits the supervision information and inserts the data transmission frame with the preset frame number into the data transmission frame with the preset frame number, the transmitter 1101 may transmit the data transmission frame with the preset frame number in the working channel of the communication network between the unmanned aerial vehicle and the control terminal, so that the supervision device may scan and acquire the data transmission frame with the preset frame number in the working channel of the communication network between the unmanned aerial vehicle and the control terminal.

An embodiment of the present invention further provides an unmanned aerial vehicle, where the unmanned aerial vehicle includes:

the control device of any one of the above.

Specifically, the power system of the unmanned aerial vehicle can include: motor, electricity accent, screw etc, wherein unmanned aerial vehicle can also include payload, for example imaging device, infrared imager etc. wherein payload can be connected with unmanned aerial vehicle through bearing the piece, wherein bears the piece and can be the cloud platform.

Referring to fig. 12, an embodiment of the monitoring device in the embodiment of the present invention includes:

a detector 1201 and a processor 1202 (wherein the number of the processors 1202 may be one or more, and one processor 1202 is taken as an example in fig. 12).

The detector 1201 is used for scanning a working channel of a communication network between the unmanned aerial vehicle and the control terminal; acquiring data transmission frames of preset frame numbers sent by an unmanned aerial vehicle, wherein each frame in the data transmission frames of the preset frame numbers comprises one or more supervision information segments of supervision information of the unmanned aerial vehicle;

the processor 1202 is configured to combine the pieces of supervision information in each frame of the data transmission frames with the preset number of frames to obtain the supervision information.

Optionally, in some embodiments of the present invention, the one or more pieces of regulatory information including the regulatory information of the drone in each of the preset number of frames of data transmission frames includes:

each frame in the data transmission frames with preset frame numbers comprises one or more supervision information segments of the supervision information of the unmanned aerial vehicle and a sequence number corresponding to the supervision information segment or segments;

wherein, the processor 1202 may be further configured to:

and combining the supervision information fragments in each frame of the data transmission frames with the preset frame number according to the sequence number in a preset mode to obtain supervision information.

Optionally, in some embodiments of the present invention, each of the preset number of frames of the data transmission frame includes one or more pieces of regulatory information of the drone and sequence numbers corresponding to the one or more pieces of regulatory information, including:

the specific field in each frame comprises one or more pieces of supervision information of the unmanned aerial vehicle and/or sequence numbers corresponding to the one or more pieces of supervision information;

wherein, the processor 1202 may be further configured to:

and combining the supervision information fragments in the specific field in each frame of the data transmission frames with the preset frame number according to the sequence number in a preset mode by utilizing a processor to obtain the supervision information.

Optionally, in some embodiments of the present invention, the detector 1201 may be further configured to:

a plurality of working channels of a wireless communication network between the drone and the control terminal are scanned.

Optionally, in some embodiments of the present invention, the number of the detectors 1201 is one, and one detector 1201 may be further configured to:

scanning a plurality of working channels of a wireless communication network between the unmanned aerial vehicle and the control terminal in turn.

Optionally, in some embodiments of the present invention, the number of the detectors 1201 is multiple, and the processor 1202 may further be configured to:

assigning a plurality of operating channels to a plurality of probes;

each detector 1201 of the plurality of detectors 1201 may be further configured to:

scanning a preset number of working channels.

Optionally, in some embodiments of the present invention, as shown in fig. 13, the supervising device further includes a display 1203, and the display 1203 may be configured to:

and displaying the supervision information.

Optionally, in some embodiments of the present invention, the processor 1202 may be further configured to:

and sending the supervision information to a remote supervision platform.

and decrypting the supervision information according to a preset decryption rule, and sending the decrypted supervision information to a remote supervision platform.

In this embodiment, the detector 1201 in the supervision device can acquire the data transmission frame of the preset frame number sent by the unmanned aerial vehicle by scanning the working channel of the communication network between the unmanned aerial vehicle and the control terminal, and the processor 1202 can further acquire the supervision information fragment of the unmanned aerial vehicle in the data transmission frame of the preset frame number and combine the supervision information fragment to obtain the supervision information.

It is understood that the present invention may also relate to a surveillance system comprising a drone, a control terminal in communication with the drone, and a surveillance device for supervising the drone, and optionally may further comprise a remote surveillance platform in communication with the surveillance device. Wherein, control terminal can be used for sending control command to unmanned aerial vehicle, and unmanned aerial vehicle can fly according to received control command control, and supervisory equipment can be used for acquireing the communication data between unmanned aerial vehicle and the control terminal to realize the supervision to unmanned aerial vehicle, long-range supervision platform then can be used for managing one or more supervisory equipment, and long-range supervision one or more unmanned aerial vehicle.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. a drone control method, is characterized in that, comprises:

Obtain regulatory information for drones;

Splitting the supervisory information into a preset number of supervisory information segments by using a processor;

Utilize the processor to insert one or more supervision information fragments in the preset number of supervision information fragments into each frame of the preset number of data transmission frames;

The transmitter is used to send the data transmission frames of the preset number of frames in the working channel of the communication network between the drone and the control terminal, so that the supervisory equipment detector scans the communication between the drone and the control terminal The working channel of the network is used to obtain the data transmission frame and demodulate the supervision information segment from the data transmission frame, wherein the control terminal is used to control the flight of the drone.

2. The method according to claim 1, wherein the method further comprises:

determining, with the processor, a serial number for each of a preset number of pieces of supervisory information;

The using the processor to insert one or more supervisory information segments in the preset number of supervisory information segments in each frame of the preset number of data transmission frames includes:

Utilize the processor to insert one or more supervision information fragments of the preset number of supervision information fragments and a sequence number corresponding to the supervision information fragment into each frame of the preset number of data transmission frames .

3 . The method according to claim 2 , wherein the processor inserts one of the preset number of supervisory information segments into each frame of the preset number of data transmission frames. 4 . or multiple pieces of regulatory information and the sequence numbers corresponding to the pieces of regulatory information include:

Utilize the processor to insert one or more supervision information fragments of the preset number of supervision information fragments and the supervision information fragments with the supervision information fragments into specific fields in each frame of the preset number of data transmission frames the corresponding serial number.

4. The method according to claim 3, wherein the specific field is a control channel field of the data transmission frame.

5 . The method according to claim 4 , wherein when the communication mode of the communication network between the drone and the control terminal is the TDD mode, the control channel field is an FCH field. 6 .

The method according to claim 4, wherein when the communication mode of the communication network between the drone and the control terminal is the FDD mode, the control channel field is a PDCCH field.

7. The method according to any one of claims 4 to 6, wherein the data field of the data transmission frame includes working data information.

8 . The method according to claim 7 , wherein the working data information at least comprises image data information collected by an imaging device on the drone. 9 .

9. The method according to claim 7, wherein the modulation scheme of the control channel field is different from the modulation scheme of the data field.

10. The method according to claim 9, wherein the modulation mode of the control channel field is different from the modulation mode of the data field comprising:

The modulation scheme of the control channel field is a low-order modulation scheme, and the modulation scheme of the data field is a high-order modulation scheme.

11. The method according to any one of claims 1 to 6, wherein the transmitting the preset frame in a working channel of a communication network between the drone and the control terminal by using a transmitter The number of data transmission frames includes:

The data transmission frame is sent using the downlink data of the drone in the working channel by using a transmitter.

12. The method of claim 11, wherein the transmitter and/or the processor are configured on the drone.

13. The method according to any one of claims 1 to 6, wherein the obtaining the supervision information of the drone comprises:

obtain regulatory information sent using the UAV's uplink data;

The use of the transmitter to send the data transmission frames of the preset number of frames in the working channel of the communication network between the UAV and the control terminal includes:

The transmitter transmits the data transmission frames of the preset number of frames by using the downlink data of the drone in the working channel.

14. The method according to any one of claims 1 to 6, wherein the method further comprises:

Encrypt the supervision information according to a preset encryption rule, and the preset encryption rule is an encryption rule known by the supervision equipment of the drone;

Wherein, the use of the processor to split the supervisory information into a preset number of supervisory information segments includes:

The encrypted supervisory information is divided into a preset number of supervisory information segments by a processor.

15. The method according to any one of claims 1 to 6, wherein the supervision information includes identity information, location information, flight parameter information, flight attitude information, owner information, One or more of purchase time information, purchase location information, historical flight trajectory information, hardware configuration information, check digit information, and location information of the control terminal.

16. The method according to claim 15, wherein the identity information comprises a manufacturer identifier and a model of the drone;

The position information of the UAV includes at least one of the current position information of the UAV and the position information when the UAV takes off;

The flight parameter information includes at least one of maximum flight speed, maximum flight altitude and current flight speed;

The flight attitude information includes at least one of roll angle, pitch angle and yaw angle;

The hardware configuration information includes at least configuration information of the payload of the drone;

The check bit information is a cyclic redundancy CRC check code;

The position information of the control terminal includes at least one of position information when the drone takes off and position information output by a positioning device on the control terminal.

17. An unmanned aerial vehicle monitoring method, applied to a monitoring device, the monitoring device comprising a detector, characterized in that, comprising:

Using the detector to scan the working channel of the communication network between the drone and the control terminal, the control terminal is used to control the flight of the drone;

Use the detector to acquire data transmission frames of a preset number of frames sent from the drone, wherein each frame of the data transmission frames of the preset number of frames includes the supervision information of the drone. one or more pieces of regulatory information;

The supervisory information is obtained by combining the supervisory information segments in each frame of the data transmission frames of the preset number of frames by a processor.

18. The method according to claim 17, wherein the one or more pieces of supervision information including the supervision information of the drone in each of the data transmission frames of the preset number of frames comprises:

Each of the data transmission frames of the preset number of frames includes one or more supervisory information fragments of the supervisory information of the drone and a serial number corresponding to the one or more supervisory information fragments;

Wherein, using the processor to obtain the supervisory information in a preset manner from the supervisory information fragments in each frame of the data transmission frame of the preset number of frames to obtain the supervisory information includes:

The supervisory information is obtained by combining, by the processor, the supervisory information fragments in each frame of a data transmission frame with a preset number of frames in a preset manner according to the sequence number.

19. The method according to claim 18, wherein each frame in the data transmission frame of the preset number of frames includes one or more supervision information fragments of the supervision information of the drone and the The sequence numbers corresponding to one or more pieces of regulatory information include:

A specific field in each frame includes one or more pieces of supervisory information of the supervisory information of the drone and/or a serial number corresponding to the one or more pieces of supervisory information;

Wherein, using the processor to obtain the supervisory information by combining the supervisory information fragments in each frame of a data transmission frame with a preset number of frames in a preset manner according to the sequence number includes:

The supervisory information is obtained by combining, by the processor, the supervisory information fragments in a specific field in each frame of a data transmission frame of a preset number of frames in a preset manner according to the sequence number.

20. The method according to claim 19, wherein the specific field is a control channel field of a data transmission frame.

21. The method according to claim 20, wherein the data field of the data transmission frame includes working data information.

22. The method according to claim 21, wherein the working data information at least comprises image data information collected by an imaging device of an unmanned aerial vehicle.

23. The method according to claim 21 or 22, wherein the modulation scheme of the control channel field is different from the modulation scheme of the data field.

24. The method according to claim 23, wherein the modulation mode of the control channel field is different from the modulation mode of the data field comprising:

25. The method according to any one of claims 17 to 22, wherein the using the detector to scan the working channel of the wireless communication network between the drone and the control terminal comprises:

Use the detector to scan multiple working channels of the wireless communication network between the drone and the control terminal.

26. The method according to claim 25, wherein the number of the detector is one, and the use of the detector to scan the working channel of the wireless communication network between the drone and the control terminal comprises:

A plurality of working channels of the wireless communication network between the drone and the control terminal are scanned in turn by one of the detectors.

27 . The method according to claim 25 , wherein the number of the detectors is multiple, and the multiple working channels of the wireless communication network between the drone and the control terminal are scanned by using the detectors. 27 . :

The plurality of working channels are allocated to the plurality of detectors, and each of the plurality of detectors scans a preset number of working channels.

28. The method according to any one of claims 17 to 22, wherein the method further comprises:

The supervisory information is displayed using an interactive interface.

29. The method according to any one of claims 17 to 22, wherein the method further comprises:

The supervisory information is sent to a remote supervisory platform using the processor.

30. The method of claim 29, wherein the utilizing the processor to send the supervisory information to a remote supervisory platform comprises:

The processor is used to decrypt the supervision information according to the preset decryption rules, and the decrypted supervision information is sent to the remote supervision platform.

31. The method of any one of claims 17 to 22, wherein

The supervision information includes the identity information, location information, flight parameter information, flight attitude information, owner information, purchase time information, purchase location information, historical flight trajectory information, hardware configuration information, and check digit information of the UAV. , and one or more of the location information related to the control terminal.

32. The method according to claim 31, wherein the identity information comprises a manufacturer identifier and a model of the drone;

The check bit information is a cyclic redundancy CRC check code;

33. A control device, characterized in that, comprising:

The processor is used to obtain the supervision information of the drone; split the supervision information into a preset number of supervision information segments; insert the preset number of data transmission frames into each frame of the preset number of frames. one or more of the number of regulatory information fragments;

The transmitter is used to send the data transmission frames of the preset number of frames in the working channel of the communication network between the drone and the control terminal, so that the supervisory equipment detector scans the distance between the drone and the control terminal The working channel of the communication network is used to obtain the data transmission frame and demodulate the supervision information segment from the data transmission frame, wherein the control terminal is used to control the flight of the drone.

34. The control device according to claim 33, wherein the processor is further configured to:

determining the serial number of each of the preset number of regulatory information fragments;

Inserting one or more supervision information fragments from the preset number of supervision information fragments and a sequence number corresponding to the supervision information fragments into each frame of the preset number of data transmission frames.

35. The control device according to claim 34, wherein the processor is further configured to:

One or more supervisory information fragments of the preset number of supervisory information fragments and a sequence number corresponding to the supervisory information fragment are inserted into a specific field in each frame of the preset number of data transmission frames.

36. The control device according to claim 35, wherein the specific field is a control channel field of the data transmission frame.

37. The control device according to claim 36, wherein when the communication mode of the communication network between the drone and the control terminal is TDD mode, the control channel field is an FCH field.

38. The control device according to claim 36, wherein when the communication mode of the communication network between the drone and the control terminal is the FDD mode, the control channel field is a PDCCH field.

39. The control device according to any one of claims 36 to 38, wherein the data field of the data transmission frame includes working data information.

40. The control device according to claim 39, wherein the working data information at least comprises image data information collected by an imaging device on the drone.

41. The control device according to claim 39, wherein the modulation scheme of the control channel field is different from the modulation scheme of the data field.

42. The control device according to claim 41, wherein the modulation mode of the control channel field is different from the modulation mode of the data field comprising:

43. The control device according to any one of claims 33 to 38, wherein the transmitter is further used for:

The data transmission frame is sent in the working channel using the downlink data of the drone.

44. The control device of claim 43, wherein the transmitter and/or the processor are configured on the drone.

45. The control device according to any one of claims 33 to 38, wherein the processor is further configured to:

obtaining regulatory information sent in the working channel using the UAV's uplink data;

The transmitter is also used for:

The data transmission frame is sent using the downlink data of the drone in the working channel.

46. The control device according to any one of claims 33 to 38, wherein the processor is further configured to:

Split the encrypted regulatory information into a preset number of regulatory information fragments.

47. The control device according to any one of claims 33 to 38, wherein the supervisory information includes identity information, location information, flight parameter information, flight attitude information, and owner information of the drone , purchase time information, purchase location information, historical flight trajectory information, hardware configuration information, check digit information, and one or more of the location information of the control terminal.

48. The control device according to claim 47, wherein the identity information comprises a manufacturer identifier and a model of the drone;

The check bit information is a cyclic redundancy CRC check code;

49. A supervisory device, characterized in that it comprises:

The detector is used to scan the working channel of the communication network between the drone and the control terminal; obtain the data transmission frames of the preset number of frames sent from the drone, wherein the data transmission frame of the preset number of frames including one or more regulatory information segments of the drone's regulatory information in each frame;

The processor is configured to obtain the supervision information by combining the supervision information fragments in each frame of the data transmission frame of the preset number of frames.

50. The supervisory device according to claim 49, wherein one or more supervisory information segments including supervisory information of the drone in each of the data transmission frames of the preset number of frames include:

Wherein, the processor is also used for:

The supervision information is obtained by combining the supervision information fragments in each frame of the data transmission frame of the preset number of frames according to the sequence number in a preset manner.

51. The supervision device according to claim 50, wherein each frame in the data transmission frame of the preset number of frames includes one or more supervision information fragments of the supervision information of the drone and the relevant information. The sequence numbers corresponding to the one or more pieces of regulatory information include:

Wherein, the processor is also used for:

52. The monitoring device according to claim 51, wherein the specific field is a control channel field of a data transmission frame.

53. The supervisory device according to claim 52, wherein the data field of the data transmission frame includes working data information.

54. The monitoring apparatus according to claim 53, wherein the work data information at least comprises image data information collected by an imaging device of an unmanned aerial vehicle.

55. The supervision device according to claim 53 or 54, wherein the modulation scheme of the control channel field is different from the modulation scheme of the data field.

56. The monitoring device according to claim 55, wherein the modulation mode of the control channel field is different from the modulation mode of the data field comprising:

57. The supervisory device of any one of claims 49 to 54, wherein the detector is further used to:

Scan multiple working channels of the wireless communication network between the drone and the control terminal.

58. The supervision device according to claim 57, wherein the number of the detectors is one;

The detector is also used for:

Scan multiple working channels of the wireless communication network between the drone and the control terminal in turn.

59. The monitoring device according to claim 57, wherein the number of the detectors is multiple; the processor is further configured to:

assigning the plurality of working channels to a plurality of the detectors;

Each of the plurality of detectors is used to: scan a preset number of working channels.

60. The supervisory apparatus of any one of claims 49 to 54, wherein the supervisory apparatus further comprises a display for:

The supervisory information is displayed using an interactive interface.

61. The supervisory device of any one of claims 49 to 54, wherein the processor is further configured to:

Send the supervisory information to the remote supervisory platform.

62. The supervisory device of claim 61, wherein the processor is further configured to:

The supervision information is decrypted according to the preset decryption rules, and the decrypted supervision information is sent to the remote supervision platform.

63. The supervision device according to any one of claims 49 to 54, wherein the supervision information includes identity information, location information, flight parameter information, flight attitude information, owner information of the drone , purchase time information, purchase location information, historical flight trajectory information, hardware configuration information, check digit information, and one or more of the location information with the control terminal.

64. The monitoring device of claim 63, wherein the identity information includes a manufacturer identifier and a model of the drone;

The hardware configuration information includes at least configuration information of the payload of the UAV;

The check bit information is a cyclic redundancy CRC check code;

65. An unmanned aerial vehicle, characterized in that, comprising:

The power system is used to provide flight power for the UAV;

A control device as claimed in any one of claims 33 to 48.