Unmanned aerial vehicle flight program control system with trajectory detection discrimination function

Abstract

The application discloses a UAV flight program control system with trajectory detection and discrimination functions and belongs to the technical field of unmanned aerial vehicles (UAVs). In order to solve the problem that positioning is easily affected by signals and the accuracy of trajectory discrimination is affected, a trajectory integration module integrates the flight map positioning and satellite map positioning of a UAV to generate a UAV flight trajectory; a detection and discrimination module detects and discriminates the UAV flight trajectory, detects and matches the UAV flight trajectory and a predetermined flight route, so that the UAV flight trajectory can be matched with satellite positioning when the UAV flight trajectory is generated, the satellite map positioning can be calibrated according to the flight map positioning, the problem of inaccurate satellite positioning caused by signals is avoided, the accuracy of the UAV flight trajectory when the UAV flight trajectory is generated is ensured, the UAV flight trajectory is convenient for subsequent detection and discrimination, and the accuracy of UAV trajectory discrimination is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle flight program control system with trajectory detection and discrimination function. BACKGROUND

[0002] An unmanned aircraft, commonly known as a "drone", is an unmanned aircraft that is controlled by radio remote control equipment and self-provided program control device, or is completely or intermittently operated by a vehicle-mounted computer.

[0003] There are related patents, such as the patent with publication number CN201000576, which discloses an unmanned aerial vehicle flight control system, comprising a flight attitude sensor for providing three-dimensional attitude data of the unmanned aerial vehicle, a GPS differential positioning system for providing real-time three-dimensional position and time data of the unmanned aerial vehicle, a state sensor for providing real-time state data of the unmanned aerial vehicle, a microwave communication data link for receiving remote control instructions from the unmanned aerial vehicle ground monitoring system and sending telemetry data, and a flight control computer for controlling the unmanned aerial vehicle to complete automatic navigation and task planning. The flight control computer is connected with the flight attitude sensor, the GPS differential positioning system, the state sensor and the microwave communication data link. The patent uses integrated full-digital bus control technology, microwave data link and GPS navigation positioning technology, which can make the unmanned aerial vehicle platform meet the requirements of low-altitude rapid monitoring on land and sea.

[0004] The above patent actually has the following problems in actual operation:

[0005] 1. When the unmanned aerial vehicle works remotely, there may be a problem of deviation from the preset track route. After the route deviation occurs, the unmanned aerial vehicle may occur unexpected situations, which can easily cause damage to the unmanned aerial vehicle and increase the labor and maintenance costs.

[0006] 2. When the trajectory of the unmanned aerial vehicle in flight is discriminated and compared, if only the trajectory generated by satellite positioning is used for judgment, there may be a problem of deviation of the satellite trajectory positioning of the unmanned aerial vehicle due to signal influence, which affects the discrimination accuracy. SUMMARY

[0007] The purpose of the present application is to provide an unmanned aerial vehicle flight program control system with trajectory detection and discrimination function to solve the problems in the background art.

[0008] To achieve the above purpose, the present application provides the following technical scheme: an unmanned aerial vehicle flight program control system with trajectory detection and discrimination function, characterized by comprising:

[0009] A data transmission unit is used to realize data transmission between the main control unit and the control platform, and to perform cooperative interactive work with the device components during transmission.

[0010] The satellite positioning unit is used to connect with the BeiDou satellite to perform satellite positioning of the UAV's geographical location in flight. During positioning, it works in coordination with the equipment components.

[0011] Equipment components are used to coordinate the execution of control commands issued by the main control unit, thereby enabling the overall flight operation of the UAV by executing control commands;

[0012] The trajectory detection unit is used to detect the flight trajectory of the UAV in flight operation mode and to identify the flight trajectory. During detection, it works in collaboration with the equipment components.

[0013] The main control unit is used to receive and send control commands to the equipment component units, data transmission units, satellite positioning units, and trajectory detection units, and to control the UAV as a whole to achieve flight and other tasks.

[0014] The control platform is used to send control commands to the main control unit and receive data information returned by the main control unit, including equipment component units, data transmission units, satellite positioning units, and trajectory detection units.

[0015] Furthermore, the data transmission unit includes:

[0016] The Bluetooth transmission module is electrically connected to the device components and is used to establish a Bluetooth connection between the data transmission unit and the control platform. The Bluetooth transmission module sends the overall positioning information of the drone to the control platform.

[0017] The wireless communication module is electrically connected to the device components and is used to achieve wireless connection between the data transmission unit and the control platform through wireless network transmission. The wireless communication module enables command interaction and data feedback between the control platform and the main control unit.

[0018] Furthermore, the satellite positioning unit includes:

[0019] The satellite positioning module is used to acquire positioning information of the UAV during flight. During the acquisition, it interacts with the device components and assigns a time tag corresponding to the acquisition time to the positioning information to generate positioning data information.

[0020] The positioning and sending module is used to send positioning data information and interacts with the data transmission unit during the sending process.

[0021] Furthermore, the satellite positioning module includes:

[0022] The path information acquisition module is used to acquire pre-planned UAV flight path information, wherein the path information includes the path trajectory, the total length of the flight path, and the theoretical flight time to complete the total length of the flight path;

[0023] The positioning node setting module is used to set the number of positioning nodes according to the UAV flight path information, wherein the number of positioning nodes is obtained by the following formula:

[0024]

[0025] in, M This indicates the number of location nodes, and... M To round up; L Indicates the total length of the flight path; L 0 indicates the preset total path length threshold; n This indicates the total number of turns made by the drone; k This indicates the number of times the drone turned at an angle exceeding 42°. A i Indicates the drone's first i The turning angle of the next turn, with clockwise turns being positive and counterclockwise turns being negative; A0 represents the offset angle between the drone's destination and its starting point on a straight line, compared to the drone's starting takeoff direction on a straight line; N Indicates the preset number of node references;

[0026] The real-time flight positioning module is used to perform flight positioning of the UAV based on the number of positioning nodes and the theoretical flight time corresponding to the entire flight mission of the UAV, and in a way that the time is evenly distributed among the positioning nodes.

[0027] The positioning information acquisition module is used to acquire the positioning information of the UAV during each flight positioning process.

[0028] Furthermore, the trajectory detection unit includes:

[0029] The environmental acquisition module is used to acquire environmental data of the working environment during the flight of the UAV. During environmental acquisition, it interacts with the device components through the data transmission unit to obtain the acquired environmental video and image material files.

[0030] The map matching module is used to process and match the material files collected by the environment acquisition module. During processing, the video material files are segmented into frames, and images containing distinctive materials are extracted from the video material files and set as key image frames. Each key image frame contains at least one distinctive material. During matching, the key image frames and image material files are integrated and matched with the map. The flight map positioning of the UAV is generated based on the matching results. The flight map positioning matches the corresponding time tags according to the acquisition time of different material files.

[0031] The positioning matching module is used to match the positioning data information acquired by the satellite positioning unit. During the matching process, the positioning data information is matched and integrated with the satellite map. The satellite map positioning of the UAV is generated based on the matching result. The satellite map positioning matches the corresponding time tag according to the acquisition time of different positioning data information.

[0032] The trajectory integration module is used to integrate the flight map positioning and satellite map positioning of the UAV, match and integrate the flight map positioning and satellite map positioning under the same time label, arrange and integrate the positioning information according to the time label, and generate the UAV flight trajectory.

[0033] The detection and discrimination module is used to detect and discriminate the drone's flight trajectory, match the drone's flight trajectory with the predetermined flight path, and determine whether the drone's flight path is correct.

[0034] Furthermore, the acquisition of the time tag includes:

[0035] Extract the actual positioning time information corresponding to each positioning information during the drone's flight, and assign the positioning time information to the positioning information to form an initial time tag;

[0036] The actual positioning time information is compared with the theoretical positioning time information corresponding to the time equalization to obtain the time difference. The time difference is then used in conjunction with a parameter model to obtain time difference evaluation parameters. These time difference evaluation parameters are obtained through compensation adjustment using the following formula:

[0037]

[0038] in, T Indicates the evaluation parameter for time difference; T 0 represents the corresponding time evaluation parameter value under the condition of no delay at the exact moment; T 1 represents the actual network latency duration; T 2 represents the actual positioning time during the actual navigation process; T 01 Indicates the theoretical network delay duration; Ty1 This indicates the allowable error range for actual network latency detection. T 02 This indicates the planned time corresponding to the standard navigation positioning position; T w This indicates the actual time spent turning during navigation; T w0 This indicates the theoretical time required for a turn during navigation;

[0039] Determine whether the time difference evaluation parameter exceeds a preset time parameter threshold. If the time difference evaluation parameter does not exceed the preset time parameter threshold, then the theoretical positioning time information is used as the final time tag and assigned to the positioning information.

[0040] If the time difference evaluation parameter exceeds the preset time parameter threshold, the cause of the current time error is determined, including network delay and flight delay.

[0041] If the current time error is caused by network latency, then the theoretical positioning time information will be used as the final time tag and assigned to the positioning information.

[0042] If the current time error is caused by a flight delay, the actual positioning time information is used as the final time tag and assigned to the positioning information, and the positioning location is marked.

[0043] Furthermore, during the integration process, the trajectory integration module matches and merges flight map positioning and satellite map positioning belonging to the same time tag according to the time tag to generate comprehensive positioning. It then arranges the comprehensive positioning into a dot matrix according to the time tag and generates a curve based on the arrangement result. Finally, it matches and combines the curve with the map to generate the UAV flight trajectory.

[0044] Furthermore, the device components include:

[0045] A microcontroller is used to control the overall operation of the drone;

[0046] The electric motor is used to drive the propeller to rotate, enabling the drone to fly.

[0047] Satellite antenna, used to work in conjunction with satellite positioning units;

[0048] The detection camera is used to collect overall flight environment data of the drone.

[0049] Furthermore, the control platform includes a PC, communication device, or mobile phone connected via communication.

[0050] Furthermore, the control platform includes at least one processor, a computer program module, and a memory communicatively connected to the at least one processor, wherein the memory contains a computer-readable storage medium;

[0051] The computer program module stores instructions that, when run on a computer, enable the computer to execute the aforementioned UAV flight program control system with trajectory detection and discrimination functions.

[0052] The memory stores instructions that can be executed by the at least one processor. By executing the instructions stored in the memory, the at least one processor enables the aforementioned UAV flight program control system with trajectory detection and discrimination function to be executed.

[0053] The computer-readable storage medium is used to store instructions that, when executed, enable the aforementioned UAV flight program control system with trajectory detection and discrimination functions to be implemented.

[0054] Compared with the prior art, the beneficial effects of the present invention are:

[0055] 1. In the existing technology, when a drone is performing remote work, there may be a problem of deviating from the preset trajectory. After the trajectory deviates, the unexpected situation that may occur with the drone is unpredictable, which can easily cause damage to the drone and increase manpower and maintenance costs. The trajectory detection unit of this invention detects the flight trajectory of the drone in the flight working state and judges the flight trajectory. The staff can monitor and control the overall flight working status and flight trajectory of the drone through the control platform. At the same time, the staff can send commands to the main control unit through the control platform to control the drone, which makes the drone more flexibly and openly controlled and monitored. By detecting and judging the drone's flight trajectory, the drone can be prevented from deviating from the route during operation, thereby avoiding accidents that affect the service life of the drone, reducing the workload of staff for inspection and repair, facilitating maintenance, having a high safety factor, and effectively saving manpower and material costs.

[0056] 2. In the existing technology, when judging and comparing the trajectory of a UAV in flight, relying solely on the trajectory route generated by satellite positioning may lead to errors in satellite trajectory positioning due to signal interference, affecting the accuracy of the judgment. The trajectory integration module of this invention integrates the UAV's flight map positioning and satellite map positioning to generate the UAV flight trajectory. The detection and judgment module detects and judges the UAV flight trajectory, matching the UAV's flight trajectory with the predetermined flight route to determine whether the UAV's flight route is correct. This allows for coordinated matching with satellite positioning when generating the UAV flight trajectory, enabling calibration of satellite map positioning based on flight map positioning. This avoids inaccurate satellite positioning caused by signal problems, thus ensuring the accuracy of UAV flight trajectory generation, facilitating subsequent flight trajectory detection and judgment, and improving the accuracy of UAV trajectory judgment. Attached Figure Description

[0057] Figure 1 This is a schematic diagram of the system modules of the present invention;

[0058] Figure 2 This is a schematic diagram of the data transmission unit module of the present invention;

[0059] Figure 3 This is a schematic diagram of the satellite positioning unit module of the present invention;

[0060] Figure 4 This is a schematic diagram of the trajectory detection unit module of the present invention;

[0061] Figure 5 This is a schematic diagram of the device component modules of the present invention. Detailed Implementation

[0062] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0063] To address the issue of drones potentially deviating from their preset trajectory during remote operations, and the unpredictable unforeseen consequences that could damage the drone and increase manpower and maintenance costs, please refer to [link to relevant documentation]. Figure 1 and Figure 5 The present invention provides the following technical solutions:

[0064] A UAV flight procedure control system with trajectory detection and discrimination capabilities includes:

[0065] The data transmission unit is used to realize data transmission between the main control unit and the control platform, and works in coordination with the equipment components during transmission.

[0066] The satellite positioning unit is used to connect with the BeiDou satellite to perform satellite positioning of the UAV's geographical location in flight. During positioning, it works in coordination with the equipment components.

[0067] The equipment components are used to coordinate the execution of control commands issued by the main control unit, thereby realizing the overall flight operation of the UAV. The equipment components include a microcontroller for controlling the overall operation of the UAV, a motor for driving the propeller to rotate and realize the flight operation of the UAV, a satellite antenna for cooperating with the satellite positioning unit, and a detection camera for collecting overall flight environment data of the UAV.

[0068] The trajectory detection unit is used to detect the flight trajectory of the UAV in flight operation mode and to identify the flight trajectory. During detection, it works in collaboration with the equipment components.

[0069] The main control unit is used to receive and send control commands to the equipment component units, data transmission units, satellite positioning units, and trajectory detection units, and to control the UAV as a whole to achieve flight and other tasks.

[0070] The control platform is used to send control commands to the main control unit and receive data information returned by the main control unit, including equipment component units, data transmission units, satellite positioning units, and trajectory detection units.

[0071] Specifically, staff can monitor and control the overall flight status and trajectory of the drone through the control platform. They can also send commands to the main control unit through the platform, enabling more flexible and open control and monitoring of the drone. By detecting and judging the drone's flight trajectory, it is possible to prevent the drone from deviating from its route during operation, thereby avoiding accidents that could affect the drone's lifespan, reducing the workload of staff for inspection and repair, facilitating maintenance, ensuring a high safety factor, and effectively saving manpower and material costs.

[0072] Please see Figure 2 The data transmission unit includes:

[0073] The Bluetooth transmission module is electrically connected to the device components and is used to establish a Bluetooth connection between the data transmission unit and the control platform. The Bluetooth transmission module sends the overall positioning information of the drone to the control platform.

[0074] The wireless communication module is electrically connected to the device components and is used to achieve wireless connection between the data transmission unit and the control platform through wireless network transmission. The wireless communication module enables command interaction and data feedback between the control platform and the main control unit.

[0075] Specifically, during operation, the Bluetooth transmission module enables real-time transmission of the drone's overall positioning information, allowing staff to understand the drone's working route and location through the control platform. The wireless communication module facilitates the exchange and transmission of information between the control platform and the main control unit, enabling staff to operate the drone remotely.

[0076] Please see Figure 3 The satellite positioning unit includes:

[0077] The satellite positioning module is used to acquire positioning information of the UAV during flight. During the acquisition, it interacts with the device components and assigns a time tag corresponding to the acquisition time to the positioning information to generate positioning data information.

[0078] The positioning and sending module is used to send positioning data information and interacts with the data transmission unit during the sending process.

[0079] Specifically, during operation, the satellite positioning module acquires the UAV's satellite positioning information in real time, matches this data with time, and sends the time-matched satellite positioning information in real time to facilitate the subsequent generation of the UAV's flight trajectory.

[0080] Furthermore, the satellite positioning module includes:

[0081] The path information acquisition module is used to acquire pre-planned UAV flight path information, wherein the path information includes the path trajectory, the total length of the flight path, and the theoretical flight time to complete the total length of the flight path;

[0082] The positioning node setting module is used to set the number of positioning nodes according to the UAV flight path information, wherein the number of positioning nodes is obtained by the following formula:

[0083]

[0084] in, M This indicates the number of location nodes, and... M To round up; L Indicates the total length of the flight path; L 0 indicates the preset total path length threshold; n This indicates the total number of turns made by the drone; k This indicates the number of times the drone turned at an angle exceeding 42°. Ai Indicates the drone's first i The turning angle of the next turn, with clockwise turns being positive and counterclockwise turns being negative; A0 represents the offset angle between the drone's destination and its starting point on a straight line, compared to the drone's starting takeoff direction on a straight line; N Indicates the preset number of node references;

[0085] The real-time flight positioning module is used to perform flight positioning of the UAV based on the number of positioning nodes and the theoretical flight time corresponding to the entire flight mission of the UAV, and in a way that the time is evenly distributed among the positioning nodes.

[0086] The positioning information acquisition module is used to acquire the positioning information of the UAV during each flight positioning process.

[0087] The above method allows for benchmarking and positioning by setting a reasonable number of positioning data collection points. This prevents excessive pressure on the drone's wireless communication and positioning computation caused by too many data collection points. Furthermore, the number of positioning data collection points set in this way can be adjusted according to the actual flight route. When there are too many changes in the drone's flight route, the number of positioning data collection nodes can be adaptively adjusted to improve the matching between node selection and the actual flight route, thereby improving the rationality and intelligence of the number of positioning nodes.

[0088] To address the issue that relying solely on satellite positioning for trajectory analysis during drone flight can lead to signal interference and inaccuracies in satellite trajectory positioning, thus affecting the accuracy of the analysis, please refer to [the relevant documentation]. Figure 4 The present invention provides the following technical solutions:

[0089] The trajectory detection unit includes:

[0090] The environmental acquisition module is used to acquire environmental data of the working environment during the flight of the UAV. During environmental acquisition, it interacts with the device components through the data transmission unit to obtain the acquired environmental video and image material files.

[0091] The map matching module is used to process and match the material files collected by the environment acquisition module. During processing, the video material files are segmented into frames, and images containing distinctive materials are extracted from the video material files and set as key image frames. Each key image frame contains at least one distinctive material. During matching, the key image frames and image material files are integrated and matched with the map. The flight map positioning of the UAV is generated based on the matching results. The flight map positioning matches the corresponding time tags according to the acquisition time of different material files.

[0092] The positioning matching module is used to match the positioning data information acquired by the satellite positioning unit. During the matching process, the positioning data information is matched and integrated with the satellite map. The satellite map positioning of the UAV is generated based on the matching result. The satellite map positioning matches the corresponding time tag according to the acquisition time of different positioning data information.

[0093] The trajectory integration module is used to integrate the flight map positioning and satellite map positioning of the UAV. It matches and integrates the flight map positioning and satellite map positioning under the same time tag, arranges and integrates the positioning information according to the time tag, and generates the UAV flight trajectory. When integrating, the trajectory integration module matches and merges the flight map positioning and satellite map positioning belonging to the same time tag according to the time tag to generate a comprehensive positioning. It arranges the comprehensive positioning into a dot matrix according to the time tag and generates a curve graph based on the arrangement result. The curve graph is matched and combined with the map to generate the UAV flight trajectory.

[0094] The detection and discrimination module is used to detect and discriminate the drone's flight trajectory, match the drone's flight trajectory with the predetermined flight path, and determine whether the drone's flight path is correct.

[0095] The acquisition of the time tag includes:

[0096] Extract the actual positioning time information corresponding to each positioning information during the drone's flight, and assign the positioning time information to the positioning information to form an initial time tag;

[0097] The actual positioning time information is compared with the theoretical positioning time information corresponding to the time equalization to obtain the time difference. The time difference is then used in conjunction with a parameter model to obtain time difference evaluation parameters. These time difference evaluation parameters are obtained through compensation adjustment using the following formula:

[0098]

[0099] in, T Indicates the evaluation parameter for time difference; T 0 represents the corresponding time evaluation parameter value under the condition of no delay at the exact moment; T 1 represents the actual network latency duration; T 2 represents the actual positioning time during the actual navigation process; T 01 Indicates the theoretical network delay duration; T y1 This indicates the allowable error range for actual network latency detection. T 02 This indicates the planned time corresponding to the standard navigation positioning position; Tw This indicates the actual time spent turning during navigation; T w0 This indicates the theoretical time required for a turn during navigation;

[0100] Determine whether the time difference evaluation parameter exceeds a preset time parameter threshold. If the time difference evaluation parameter does not exceed the preset time parameter threshold, then the theoretical positioning time information is used as the final time tag and assigned to the positioning information.

[0101] If the time difference evaluation parameter exceeds the preset time parameter threshold, the cause of the current time error is determined, including network delay and flight delay.

[0102] If the current time error is caused by network latency, then the theoretical positioning time information will be used as the final time tag and assigned to the positioning information.

[0103] If the current time error is caused by a flight delay, the actual positioning time information is used as the final time tag and assigned to the positioning information, and the positioning location is marked.

[0104] Specifically, during trajectory detection, the map matching module can process the environmental video and image files collected by the camera. This allows for coordinated matching with satellite positioning when generating the drone's flight trajectory. The satellite positioning can be calibrated based on the flight map positioning, avoiding inaccurate satellite positioning due to signal problems. This ensures the accuracy of drone flight trajectory generation, facilitating subsequent flight trajectory detection and judgment, and improving the accuracy of drone trajectory judgment.

[0105] Meanwhile, acquiring and determining time tags using the above methods can effectively improve the matching and accuracy of positioning and time tracking. Furthermore, assigning positioning points to time tags according to specific circumstances can effectively improve the accuracy of positioning time determination and assignment. On the other hand, setting time evaluation parameters using the above formula can effectively improve the accuracy of representing real-world navigation situations under different delay conditions, preventing inaccurate positioning time caused by network latency interference with the actual positioning time tags.

[0106] The control platform includes a PC, communication equipment, or mobile phone connected via communication.

[0107] The control platform includes at least one processor, a computer program module, and a memory communicatively connected to the at least one processor, wherein the memory contains a computer-readable storage medium;

[0108] The computer program module stores instructions that, when executed on a computer, enable the computer to implement a drone flight program control system with trajectory detection and discrimination functions; the memory stores instructions executable by the at least one processor, which, by executing the instructions stored in the memory, enables the drone flight program control system with trajectory detection and discrimination functions to be executed; a computer-readable storage medium stores instructions that, when executed, enable the drone flight program control system with trajectory detection and discrimination functions to be implemented.

[0109] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A UAV flight procedure control system with trajectory detection and discrimination function, characterized in that, include: The data transmission unit is used to realize data transmission between the main control unit and the control platform, and works in coordination with the equipment components during transmission. The satellite positioning unit is used to connect with the BeiDou satellite to perform satellite positioning of the UAV's geographical location in flight. During positioning, it works in coordination with the equipment components. Equipment components are used to coordinate the execution of control commands issued by the main control unit, thereby enabling the overall flight operation of the UAV by executing control commands; The trajectory detection unit is used to detect the flight trajectory of the UAV in flight operation mode and to identify the flight trajectory. During detection, it works in collaboration with the equipment components. The main control unit is used to receive and send control commands to the equipment component units, data transmission units, satellite positioning units, and trajectory detection units, and to control the UAV as a whole to achieve flight and other tasks. The control platform is used to send control commands to the main control unit and receive data information returned by the main control unit, including equipment component units, data transmission units, satellite positioning units, and trajectory detection units; The satellite positioning module includes: The path information acquisition module is used to acquire pre-planned UAV flight path information, wherein the path information includes the path trajectory, the total length of the flight path, and the theoretical flight time to complete the total length of the flight path; The positioning node setting module is used to set the number of positioning nodes according to the UAV flight path information, wherein the number of positioning nodes is obtained by the following formula: ； in, M This indicates the number of location nodes, and... M To round up; L Indicates the total length of the flight path; L 0 indicates the preset total path length threshold; n This indicates the total number of turns made by the drone; k This indicates the number of times the drone turned at an angle exceeding 42°. A i Indicates the drone's first i The turning angle of the next turn, with clockwise turns being positive and counterclockwise turns being negative; A0 represents the offset angle between the drone's destination and its starting point on a straight line, compared to the drone's starting takeoff direction on a straight line; N Indicates the preset number of node references; The real-time flight positioning module is used to perform flight positioning of the UAV based on the number of positioning nodes and the theoretical flight time corresponding to the entire flight mission of the UAV, and in a way that the time is evenly distributed among the positioning nodes. The positioning information acquisition module is used to acquire the positioning information of the UAV during each flight positioning process.

2. The UAV flight procedure control system with trajectory detection and discrimination function as described in claim 1, characterized in that: The data transmission unit includes: The Bluetooth transmission module is electrically connected to the device components and is used to establish a Bluetooth connection between the data transmission unit and the control platform. The Bluetooth transmission module sends the overall positioning information of the drone to the control platform. The wireless communication module is electrically connected to the device components and is used to achieve wireless connection between the data transmission unit and the control platform through wireless network transmission. The wireless communication module enables command interaction and data feedback between the control platform and the main control unit.

3. The UAV flight procedure control system with trajectory detection and discrimination function as described in claim 1, characterized in that: The satellite positioning unit includes: The satellite positioning module is used to acquire positioning information of the UAV during flight. During the acquisition, it interacts with the device components and assigns a time tag corresponding to the acquisition time to the positioning information to generate positioning data information. The positioning and sending module is used to send positioning data information and interacts with the data transmission unit during the sending process.

4. The UAV flight procedure control system with trajectory detection and discrimination function as described in claim 1, characterized in that: The trajectory detection unit includes: The environmental acquisition module is used to acquire environmental data of the working environment during the flight of the UAV. During environmental acquisition, it interacts with the device components through the data transmission unit to obtain the acquired environmental video and image material files. The map matching module is used to process and match the material files collected by the environment acquisition module. During processing, the video material files are segmented into frames, and images containing distinctive materials are extracted from the video material files and set as key image frames. Each key image frame contains at least one distinctive material. During matching, the key image frames and image material files are integrated and matched with the map. The flight map positioning of the UAV is generated based on the matching results. The flight map positioning matches the corresponding time tags according to the acquisition time of different material files. The positioning matching module is used to match the positioning data information acquired by the satellite positioning unit. During the matching process, the positioning data information is matched and integrated with the satellite map. The satellite map positioning of the UAV is generated based on the matching result. The satellite map positioning matches the corresponding time tag according to the acquisition time of different positioning data information. The trajectory integration module is used to integrate the flight map positioning and satellite map positioning of the UAV, match and integrate the flight map positioning and satellite map positioning under the same time label, arrange and integrate the positioning information according to the time label, and generate the UAV flight trajectory. The detection and discrimination module is used to detect and discriminate the drone's flight trajectory, match the drone's flight trajectory with the predetermined flight path, and determine whether the drone's flight path is correct.

5. The UAV flight procedure control system with trajectory detection and discrimination function as described in claim 4, characterized in that: When integrating data, the trajectory integration module matches and merges flight map positioning and satellite map positioning belonging to the same time tag according to the time tag to generate comprehensive positioning. It then arranges the comprehensive positioning into a dot matrix according to the time tag and generates a curve based on the arrangement result. Finally, it matches and combines the curve with the map to generate the UAV flight trajectory.

6. The UAV flight procedure control system with trajectory detection and discrimination function as described in any one of claims 3 or 5, characterized in that: The acquisition of the time tag includes: Extract the actual positioning time information corresponding to each positioning information during the drone's flight, and assign the positioning time information to the positioning information to form an initial time tag; The actual positioning time information is compared with the theoretical positioning time information corresponding to the time equalization to obtain the time difference. The time difference is then used in conjunction with a parameter model to obtain time difference evaluation parameters. These time difference evaluation parameters are obtained through compensation adjustment using the following formula: ； in, T Indicates the evaluation parameter for time difference; T 0 represents the corresponding time evaluation parameter value under the condition of no delay at the exact moment; T 1 represents the actual network latency duration; T 2 represents the actual positioning time during the actual navigation process; T 01 Indicates the theoretical network delay duration; T y1 This indicates the allowable error range for actual network latency detection. T 02 This indicates the planned time corresponding to the standard navigation positioning position; T w This indicates the actual time spent turning during navigation; T w0 This indicates the theoretical time required for a turn during navigation; Determine whether the time difference evaluation parameter exceeds a preset time parameter threshold. If the time difference evaluation parameter does not exceed the preset time parameter threshold, then the theoretical positioning time information is used as the final time tag and assigned to the positioning information. If the time difference evaluation parameter exceeds the preset time parameter threshold, the cause of the current time error is determined, including network delay and flight delay. If the current time error is caused by network latency, then the theoretical positioning time information will be used as the final time tag and assigned to the positioning information. If the current time error is caused by a flight delay, the actual positioning time information is used as the final time tag and assigned to the positioning information, and the positioning location is marked.

7. The UAV flight procedure control system with trajectory detection and discrimination function as described in claim 1, characterized in that: The device components include: A microcontroller is used to control the overall operation of the drone; The electric motor is used to drive the propeller to rotate, enabling the drone to fly. Satellite antenna, used to work in conjunction with satellite positioning units; The detection camera is used to collect overall flight environment data of the drone.

8. The UAV flight procedure control system with trajectory detection and discrimination function as described in claim 1, characterized in that: The control platform includes a PC, communication equipment, or mobile phone connected via communication.

9. The UAV flight procedure control system with trajectory detection and discrimination function as described in claim 1, characterized in that: The control platform includes at least one processor, a computer program module, and a memory communicatively connected to the at least one processor, wherein the memory contains a computer-readable storage medium. The computer program module stores instructions that, when run on a computer, enable the computer to execute the UAV flight program control system with trajectory detection and discrimination function as described in any one of claims 1-8. The memory stores instructions that can be executed by the at least one processor, and the at least one processor executes the instructions stored in the memory to cause the UAV flight program control system with trajectory detection and discrimination function as described in any one of claims 1-8 to be executed; The computer-readable storage medium is used to store instructions that, when executed, enable the unmanned aerial vehicle flight program control system with trajectory detection and discrimination function as described in any one of claims 1-8 to be implemented.

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