Wireless signal road test method, drone and control device

Abstract

The present invention discloses a wireless signal drive test method, drone, and control device. The method includes: generating wireless signal test data corresponding to a preset operating frequency; recording the test data corresponding to the operating frequency in a transmission frame; and transmitting the transmission frame. The solution provided by the present invention enables coordinated frequency sweep measurement and image transmission communication, avoiding mutual interference.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of drones, and in particular to a wireless signal path testing method, a drone, and a control device. Background Art

[0002] In mobile communications, frequency scanners or other specialized equipment are often used for drive testing of wireless signals to verify network coverage, optimize network planning, and optimize terminal device performance. For example, frequency scanners are widely used in operators' network planning and optimization. They typically test wireless coverage of mobile communication networks through vehicle-mounted drive testing, using high-speed spectrum analysis to perform frequency clearance and interference troubleshooting.

[0003] The above-mentioned wireless signal drive test equipment is generally customized and designed for a specific mobile communication standard, and is large in size and expensive. Summary of the Invention

[0004] In order to solve any of the above technical problems, the embodiments of the present application provide a wireless signal path testing method, a drone, and a control device.

[0005] In a first aspect, an embodiment of the present application provides a wireless signal drive test method, which is applied to a drone, comprising:

[0006] Using the preset frequency point as the working frequency point, generate test data of the wireless signal corresponding to the working frequency point;

[0007] Recording test data corresponding to the operating frequency point in a transmission frame;

[0008] The transmission frame is sent.

[0009] Optionally, recording the test result corresponding to the operating frequency point in the transmission frame includes:

[0010] According to the pre-acquired correspondence between each frequency point and the subframe in the transmission frame, the subframe corresponding to the frequency point used as the working frequency point is determined to obtain the target subframe;

[0011] The test data corresponding to the operating frequency point is recorded in the target subframe.

[0012] In a second aspect, an embodiment of the present application provides a drone, comprising:

[0013] body;

[0014] an arm connected to the fuselage;

[0015] a power device, provided on the arm, for providing the UAV with flight power; and

[0016] A flight controller, disposed on the fuselage;

[0017] Wherein, the flight controller includes:

[0018] at least one processor; and

[0019] A memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method described above.

[0020] In a third aspect, an embodiment of the present application provides a wireless signal drive test method, which is applied to a control device and includes:

[0021] Receive a transmission frame, wherein the transmission frame carries drive test data of a wireless signal corresponding to an operating frequency of the drone;

[0022] Acquire test data corresponding to the operating frequency point from the transmission frame.

[0023] Optionally, the method further includes:

[0024] Before receiving the transmission frame, a drive test request for a wireless signal is sent, wherein the test request carries setting information of an operating frequency point and / or a correspondence between each frequency point and a subframe in the transmission frame.

[0025] Optionally, the frequency in the setting information of the operating frequency covers the operating frequency band of the drone.

[0026] Optionally, the correspondence between each frequency point and a subframe in a transmission frame is obtained by:

[0027] Obtaining a first subframe in the transmission frame for the drone to send a video and a second subframe for the drone to receive a control command;

[0028] selecting a subframe other than the first subframe and the second subframe in the transmission frame as an available subframe;

[0029] According to the number of available subframes and the number of frequency points, a corresponding relationship between each frequency point and a subframe in a transmission frame is established.

[0030] Optionally, the method further includes:

[0031] After obtaining the test data corresponding to the operating frequency point from the transmission frame, obtaining the power spectrum within the bandwidth corresponding to the operating frequency point from the test result corresponding to the operating frequency point;

[0032] Obtaining a power spectrum corresponding to the operating frequency band of the UAV according to the power spectrum of the bandwidth corresponding to the operating frequency point;

[0033] Optimization information of the image transmission link is generated according to the power spectrum corresponding to the operating frequency band of the drone.

[0034] Optionally, obtaining a power spectrum within a bandwidth corresponding to the operating frequency point from a test result corresponding to the operating frequency point includes:

[0035] The test results corresponding to the working frequency point are extracted according to the preset frequency domain granularity reference value to obtain the power spectrum within the bandwidth corresponding to the working frequency point, wherein the frequency domain granularity reference value is greater than the frequency domain granularity value in the test results corresponding to the working frequency point.

[0036] In a fourth aspect, an embodiment of the application provides a control device comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute any of the methods described above.

[0037] One of the above technical solutions has the following advantages or beneficial effects:

[0038] By setting the working frequency of the drone, the test data of the wireless signal is collected to achieve the purpose of wireless signal road testing, so that the sweep frequency measurement and image transmission communication can work together, avoiding mutual influence and making the measurement more accurate.

[0039] Other features and advantages of the embodiments of the present application will be described in the following description, and in part will become apparent from the description or be understood by practicing the embodiments of the present application. The objectives and other advantages of the embodiments of the present application can be achieved and obtained through the structures particularly pointed out in the description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings are used to provide a further understanding of the technical solutions of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the embodiments of the present application, they are used to explain the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions of the embodiments of the present application.

[0041] Figure 1 A flowchart of a wireless signal drive test method provided in an embodiment of the present application;

[0042] FIG2( a ) is a schematic diagram of a transmission frame in the related art;

[0043] FIG2( b ) is a schematic diagram of a transmission frame of a wireless signal in a drive test mode according to an embodiment of the present application;

[0044] Figure 3 A flowchart of another wireless signal path testing method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0045] To make the purpose, technical solutions and advantages of the embodiments of the present application more clear, the embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be noted that, unless there is a conflict, the embodiments and features in the embodiments of the present application can be combined with each other in any way.

[0046] During the implementation of this application, we conducted a technical analysis of the relevant technologies and found that the relevant technologies have at least the following problems, including:

[0047] Unmanned aerial vehicles (UAVs), also known as drones, are unmanned aircraft controlled by radio remote control and self-contained programmable control devices. While they lack a cockpit, UAVs are equipped with flight control and communication systems, allowing ground-based remote control stations to track, locate, remotely control, telemeter, and transmit data.

[0048] The drones in the embodiments of the present application include but are not limited to unmanned helicopters, unmanned fixed-wing aircraft, unmanned multi-rotor aircraft, unmanned airships, and unmanned paragliders.

[0049] Drones are increasingly being used across a wide range of industries. Drones and ground controllers are connected via a wireless image transmission link. This link transmits operator control commands and information obtained by the drone's sensors. The performance of this link is crucial to the drone's performance.

[0050] Image transmission links mainly include connections based on the operator's public network, standard connections based on WiFi, and connections based on custom private protocols. The custom private protocol connection method can be customized and optimized for drone communication characteristics, thus achieving optimal image transmission link performance in many scenarios.

[0051] To optimize image transmission performance, similar to wireless signal path testing in mobile communications, various scenarios need to be tested and analyzed to analyze the signal attenuation and interference characteristics in each scenario, so as to carry out targeted optimization design.

[0052] Compared to wireless signal drive testing in mobile communications, which is often performed using equipment such as frequency scanners, wireless signal drive testing using drones has the following problems:

[0053] 1) The drone has a low payload and cannot carry relevant equipment;

[0054] 2) The relevant professional equipment is expensive, resulting in high testing costs;

[0055] 3) Since the wireless signal's drive test frequency band is consistent with the drone's image transmission operating frequency band, frequency sweep measurement and image transmission communication cannot work together, making it difficult to avoid the impact of the image transmission signal itself on the wireless signal drive test.

[0056] Based on the above analysis, the embodiments of the present application provide the following solutions, including:

[0057] Figure 1 This is a flow chart of a wireless signal path test method provided in an embodiment of the present application. Figure 1 As shown, the method includes:

[0058] Step 101: Using a preset frequency point as an operating frequency point, generating drive test data of a wireless signal corresponding to the operating frequency point;

[0059] Specifically, by utilizing the fact that the wireless signal's road test frequency band is consistent with the drone's image transmission operating frequency band, wireless signal test data is generated for the drone's operating frequency point to achieve the purpose of wireless signal road testing. This enables frequency sweep measurement and image transmission communication to work together, avoiding mutual influence and achieving more accurate measurements.

[0060] The operating frequency band of the drone can be covered by N frequency points, which are recorded as f0, f1, ..., fN, where N is a positive integer. A frequency point can be selected from the N frequency points as the operating frequency point for collecting test data.

[0061] Optionally, when the test request is for test data corresponding to at least two frequency points, the test data may be collected one by one with each frequency point as the working frequency point.

[0062] Specifically, a corresponding duration threshold can be set for each frequency point. The timing starts after the current frequency point is set as the working frequency point. When the timing duration reaches the duration threshold corresponding to the frequency point, the next frequency point is replaced as the working frequency point.

[0063] The test data may be blank data, that is, the data content is empty. Correspondingly, the data content received by the receiving side is background noise and background interference.

[0064] or,

[0065] The test data may be spectrum information of a wireless signal at an operating frequency point.

[0066] Compared to the related art of using specialized test equipment for testing, the present embodiment achieves the purpose of frequency sweep testing by setting the operating frequency of the drone to complete the collection of test data of the wireless signal, eliminating the need for specialized test equipment and reducing testing costs. Furthermore, since the above-mentioned test operation does not require the use of external test equipment and does not require the drone to carry test equipment, it is still applicable to drones with low payloads, thus expanding the scope of application of the test solution.

[0067] Step 102: Record the test data corresponding to the operating frequency in a transmission frame;

[0068] Specifically, a transmission frame is a frame structure for transmitting signals on an image transmission link. The transmission frame may be composed of multiple subframes, and the data content carried by each subframe may be pre-set.

[0069] Figure 2(a) shows a schematic diagram of a transmission frame in related art. As shown in Figure 2(a), the transmission frame has a length of 10ms and is divided into 10 subframes, each 1ms long. D frames are used to transmit video from the drone to the control device, and U frames are used to transmit control commands from the control device to the drone.

[0070] Figure 2(b) is a schematic diagram of a transmission frame in drive test mode for wireless signals according to an embodiment of the present application. As shown in Figure 2(b), the frame structure differs from that shown in Figure 2(a). Unlike Figure 2(a), which configures each subframe as a D-frame or U-frame, Figure 2(b) selects only some subframes of the transmission frame as D-frames or U-frames, leaving all other subframes available for drive testing of wireless signals.

[0071] In an exemplary embodiment, the data stored in the radio link of each subframe may be set in the transmission frame.

[0072] Specifically, the subframe corresponding to the frequency point serving as the working frequency point can be determined based on the pre-acquired correspondence between each frequency point and the subframe in the transmission frame to obtain a target subframe; and the test data corresponding to the working frequency point can be recorded in the target subframe.

[0073] Furthermore, taking the total number of subframes in the transmission frame excluding D frames and U frames as M as an example, one or at least two subframes can be selected from the M subframes as subframes corresponding to a certain frequency point, and the subframes corresponding to the frequency point are used to store test data of the wireless signal when the frequency point is the working frequency point, where M is a positive integer.

[0074] Optionally, when the test request is for test data corresponding to at least two frequency points, a corresponding subframe may be set for each frequency point so as to store test data when each frequency point is used as an operating frequency point.

[0075] By presetting the subframe corresponding to each frequency point, the control device can easily determine the corresponding relationship between the frequency point and the test data when extracting the test data.

[0076] Step 103: Send the transmission frame;

[0077] Specifically, a transmission frame may be sent via the image transmission link with the control device so that the control device can obtain the drive test data of the wireless signal.

[0078] The method provided in the embodiment of the present application achieves the purpose of wireless signal route testing by setting the operating frequency of the drone, thereby collecting test data of the wireless signal, and enabling frequency sweep measurement and image transmission communication to work together, avoiding mutual influence and making the measurement more accurate.

[0079] Figure 3 This is a flow chart of another wireless signal path test method provided in an embodiment of the present application. Figure 3 As shown, the method includes:

[0080] Step 301: Receive a transmission frame, wherein the transmission frame carries test data of a wireless signal corresponding to an operating frequency of the UAV;

[0081] Specifically, when the current device is a control device, it can receive the transmission frame through the image transmission link between it and the drone. When the current device is a server or host computer, the transmission frame can be forwarded by other devices. For example, after the remote control receives the transmission frame, the server can request the transmission frame from the remote control to obtain the transmission frame.

[0082] Optionally, before receiving the transmission frame, a wireless signal drive test request is sent to trigger the drone to enter the wireless signal drive test mode.

[0083] Specifically, the test request can be sent based on the current location of the drone to test the wireless signal in a specific area. The current location can be determined using data returned by the drone.

[0084] Optionally, the start conditions of the test operation may be pre-set, such as the flight duration reaching a preset duration threshold.

[0085] Furthermore, the test request carries setting information of the operating frequency of the drone;

[0086] Specifically, the test request may be sent periodically. The setting information is used to set the preset frequency point as the working frequency point. Optionally, if the number of frequency points is at least two, the order of the at least two frequency points as the working frequency points may be set.

[0087] Furthermore, the test request also includes a correspondence between each frequency point and a subframe in the transmission frame. By setting the correspondence, it is convenient to determine the frequency point corresponding to the test data in the received transmission frame.

[0088] Specifically, the correspondence between each frequency point and the subframe in the transmission frame is obtained by the following method, including:

[0089] Step A: obtaining a first subframe in the transmission frame for the drone to send a video and a second subframe for the drone to receive a control command;

[0090] Specifically, the first subframe is the D frame mentioned above, and the second subframe is the U frame mentioned above. The number of the first subframe or the second subframe is one or at least two.

[0091] In practical applications, if a drone is used to conduct road testing of wireless signals, the amount of video data that the drone needs to send and the amount of data that the drone needs to receive for control commands can be controlled, thereby effectively reducing the proportion of the first subframe and the second subframe in the transmission frame, leaving more subframes to support road testing of wireless signals.

[0092] Step B: selecting subframes other than the first subframe and the second subframe in the transmission frame as available subframes;

[0093] Specifically, all or part of the subframes in the transmission frame except the first subframe and the second subframe may be selected as available subframes.

[0094] Step C: establishing a correspondence between each frequency point and a subframe in a transmission frame according to the number of available subframes and the number of frequency points;

[0095] Specifically, if the total number M of available subframes is greater than or equal to the total number N of frequencies corresponding to the operating frequencies of the drone, a corresponding subframe can be set for each frequency, thereby reducing the need to send corresponding relationships for each test request and improving processing efficiency.

[0096] If the total number of available subframes, M, is less than the total number of frequencies, N, corresponding to the operating frequencies of the drone, a corresponding relationship may be set based on the frequencies indicated as the operating frequencies in the setup information in the test request. This corresponding relationship records the subframes corresponding to the frequencies indicated as the operating frequencies. After receiving test data corresponding to the current test request, a new test request may be sent, and a new operating frequency and the corresponding relationship between the frequencies and subframes may be reset through the new test request.

[0097] The frequency points in the setting information of the working frequency points cover the working frequency band of the drone. By periodically sending test requests, different frequency points can be traversed and set to achieve the purpose of covering the entire working frequency band of the drone.

[0098] or,

[0099] The drone is triggered once to continue working until all frequency points have completed the corresponding test operations.

[0100] Specifically, after receiving the test request, each frequency point is tested as a working frequency point in turn until all working frequency points are traversed.

[0101] Step 302: Acquire test data corresponding to the operating frequency point from the transmission frame;

[0102] Specifically, the frequency point corresponding to the test data in the subframe may be determined according to the correspondence between each frequency point and the subframe in the transmission frame, thereby completing the extraction and preprocessing of the test data.

[0103] Optionally, after obtaining the test data corresponding to the operating frequency point from the transmission frame, obtaining a power spectrum within a bandwidth corresponding to the operating frequency point from the test result corresponding to the operating frequency point;

[0104] Obtaining a power spectrum corresponding to the operating frequency band of the UAV according to the power spectrum of the bandwidth corresponding to the operating frequency point;

[0105] Optimization information of the image transmission link is generated according to the power spectrum corresponding to the operating frequency band of the drone.

[0106] Specifically, the power spectrum within the bandwidth of each frequency point is calculated, and all frequency points are spliced ​​together to obtain the complete power spectrum within the working frequency band. Based on the power spectrum within the working frequency band, optimization information of the image transmission link can be generated to achieve the purpose of optimizing the image transmission link.

[0107] Optionally, the power spectrum corresponding to the operating frequency band can be saved to a storage medium for offline reading and analysis, allowing for a more comprehensive analysis. While storing the power spectrum corresponding to the operating frequency band, key parameters of the image transmission link (e.g., signal strength) and key processing (e.g., frequency hopping) can also be stored to facilitate optimization analysis of the image transmission link.

[0108] For example, the information can be stored in a hardware device such as a memory card, and the data information in the card can be read on an external device (such as a PC) for analysis to optimize the image transmission design.

[0109] Furthermore, according to the preset frequency domain granularity reference value, the test results corresponding to the working frequency point are extracted to obtain the power spectrum within the bandwidth corresponding to the working frequency point, wherein the frequency domain granularity reference value is greater than the frequency domain granularity value in the test results corresponding to the working frequency point.

[0110] Specifically, when calculating the power spectrum in each subframe, the frequency domain granularity may be very small. For example, in the LTE system, the frequency domain granularity can reach a subcarrier spacing of 15kHz. If such a small frequency domain granularity is used, the required storage space is large. To this end, a larger frequency domain granularity can be sampled as a frequency domain granularity reference value, and the power spectrum based on the frequency domain granularity value is extracted according to the frequency domain granularity reference value. The extraction here can be direct extraction or averaging the measured values ​​of each subcarrier within the bandwidth corresponding to the frequency domain granularity reference value.

[0111] For example, in an LTE system with a frequency domain granularity of 15kHz subcarrier spacing, the original 15kHz power spectrum can be extracted into a 1MHz power spectrum with a 1MHz bandwidth granularity. This can be done directly or by averaging the measured values ​​of each subcarrier within the 1MHz bandwidth.

[0112] The method provided in the embodiment of the present application achieves the purpose of road testing of wireless signals by transmitting frames to receive test data of wireless signals from drones, so that frequency sweep measurement and image transmission communication can work together, avoiding mutual influence and making the measurement more accurate.

[0113] The embodiment of the present application further provides a drone, which may include: a fuselage, an arm, a power unit, a magnetometer, multiple sensors, a flight controller, and a communication module. The flight controller includes a processor and a memory.

[0114] The arm is connected to the fuselage; the power device is arranged on the arm and is used to provide the UAV with flying power.

[0115] The multiple sensors are used to respectively collect corresponding flight data, and the multiple sensors may be multiple ones of accelerometers, gyroscopes, magnetometers, GPS navigators and visual sensors.

[0116] The processor, memory and communication module establish a communication connection between any two of them through a bus.

[0117] The processor can be any type of processor with one or more processing cores. It can perform single-threaded or multi-threaded operations and is used to parse instructions to perform operations such as acquiring data, performing logical operations, and issuing operation results.

[0118] The memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the program instructions corresponding to the wireless signal drive test method in the embodiments of the present invention. The processor executes the non-transitory software programs, instructions, and modules stored in the memory to execute various functional applications and data processing of the drone protection device 80, thereby implementing the method in the wireless signal drive test method embodiment.

[0119] The memory may include a program storage area and a data storage area, wherein the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data required to provide the method, etc. In addition, the memory may include a high-speed random access memory and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory may optionally include a memory remotely located relative to the processor, and these remote memories may be connected to the drone via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0120] The present application also provides a remote control comprising a processor, a memory, and a communication device. The remote control may contain one or more processors, with one processor being used as an example. The processor, memory, and communication device in the remote control may be connected via a bus or other means. The memory, as a computer-readable storage medium, may be used to store software programs, computer-executable programs, and modules, such as the method for testing wireless signals applied to roads in an embodiment of the present invention. The processor executes the software programs, instructions, and modules stored in the memory to execute various functional applications and data processing of the remote control, thereby implementing the aforementioned method.

[0121] The memory may primarily include a program storage area and a data storage area. The program storage area may store an operating system and at least one application required for a function; the data storage area may store data generated based on the use of the terminal, etc. Furthermore, the memory may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state memory device. In some instances, the memory may further include memory remotely located relative to the processor, and such remote memory may be connected to the computer device via a network. Examples of the aforementioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0122] Communication device, used to achieve network connection or mobile data connection between servers.

[0123] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In hardware implementations, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or temporary medium). As is well known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable, and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those skilled in the art that communication media generally embodies computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

Claims

1. A method for drive testing of wireless signals, characterized in that: Applications in drones include: Using the preset frequency point as the working frequency point, generate test data of the wireless signal corresponding to the working frequency point; Recording the test data corresponding to the operating frequency in a subframe for storing test data in a transmission frame, wherein the transmission frame is a frame structure for transmitting signals on an image transmission link, and some subframes in the transmission frame serve as D frames or U frames, and all other subframes serve as subframes for storing test data; Sending the transmission frame via the image transmission link; The step of recording the test data corresponding to the operating frequency point in a subframe for storing test data in a transmission frame includes: According to the pre-acquired correspondence between each frequency point and the subframe in the transmission frame, the subframe corresponding to the frequency point used as the working frequency point is determined to obtain the target subframe; The test data corresponding to the operating frequency point is recorded in the target subframe.

2. A method for testing a wireless signal, characterized in that: Applicable to control devices, including: Receiving a transmission frame via an image transmission link, wherein a subframe in the transmission frame for storing test data carries test data of a wireless signal corresponding to an operating frequency of the drone, wherein the transmission frame is a frame structure of a signal transmitted on the image transmission link, and some subframes in the transmission frame serve as D frames or U frames, and all other subframes serve as subframes for storing test data; Acquiring test data corresponding to the operating frequency point from the transmission frame; wherein the method further includes: Before receiving a transmission frame, sending a test request for a wireless signal, wherein the test request carries setting information of an operating frequency point and / or a correspondence between each frequency point and a subframe in a transmission frame; The correspondence between each frequency point and a subframe in a transmission frame is obtained by: Obtaining a first subframe in the transmission frame for the drone to send a video and a second subframe for the drone to receive a control command; selecting a subframe other than the first subframe and the second subframe in the transmission frame as an available subframe; According to the number of available subframes and the number of frequency points, a corresponding relationship between each frequency point and a subframe in a transmission frame is established.

3. The method according to claim 2, characterized in that The frequency points in the setting information of the operating frequency points cover the operating frequency band of the drone.

4. The method according to claim 2, characterized in that The method further comprises: After obtaining the test data corresponding to the operating frequency point from the transmission frame, obtaining the power spectrum within the bandwidth corresponding to the operating frequency point from the test result corresponding to the operating frequency point; Obtaining a power spectrum corresponding to the operating frequency band of the UAV according to the power spectrum of the bandwidth corresponding to the operating frequency point; Optimization information of the image transmission link is generated according to the power spectrum corresponding to the operating frequency band of the drone.

5. The method according to claim 4, characterized in that The obtaining, from the test result corresponding to the operating frequency point, a power spectrum within a bandwidth corresponding to the operating frequency point, includes: The test results corresponding to the working frequency point are extracted according to the preset frequency domain granularity reference value to obtain the power spectrum within the bandwidth corresponding to the working frequency point, wherein the frequency domain granularity reference value is greater than the frequency domain granularity value in the test results corresponding to the working frequency point.

6. A drone, characterized in that: include: body; an arm connected to the fuselage; A power device, provided on the arm, for providing the UAV with flight power; as well as A flight controller, disposed on the fuselage; Wherein, the flight controller includes: at least one processor; and A memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor so as to enable the at least one processor to perform the method according to claim 1.

7. A control device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to run the computer program to perform the method according to any one of claims 2 to 5.

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