A light UAV mineral satellite image law enforcement air-ground collaborative system

Abstract

The present invention discloses a light UAV mineral satellite image law enforcement air-ground collaborative system, including: a data acquisition module: used to obtain and transmit the relevant parameters of the UAV and the PTZ through a software development tool; a UAV communication monitoring module: used to display, monitor and transmit the relevant data of the UAV and the PTZ in real time, and send instructions to the UAV; a verification planning module: used to retrieve the data sent by the UAV communication monitoring module, and plan the verification route and verification method; a collaborative flight control module: used to control a single or multiple UAVs in an automatic flight mode to achieve multi-angle collaborative work at the same verification point; a flight data management module: used to store and classify the collected data. The present invention reduces the burden of the high-mobility field verification process and achieves lightweight and portability in the verification process.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle (UAV) aerial survey and mineral satellite imagery law enforcement, and in particular to an air-ground collaborative system for light UAV mineral satellite imagery law enforcement. Background Art

[0002] In order to maintain the order of mineral resource development and management and the rights and interests of national resource assets, protect the ecological environment, and promote high-quality development, mineral satellite image law enforcement work is carried out every year, and internal audits and field inspections are carried out simultaneously. According to the needs of the Ministry of Natural Resources Supervision and Law Enforcement, remote sensing interpretation must be completed every quarter, change maps must be issued, local governments must verify and provide evidence at one time, and field inspections of mineral satellite images must be carried out in provinces with more suspected problems. The field inspection work is carried out in the form of undercover visits + discussions. During the undercover visits, photos of illegal mining operations in mining areas and other relevant materials are collected and provided to law enforcement departments as evidence. At this stage, the overall process of field inspections is relatively stable and mature, but there are the following problems:

[0003] (1) High risk of personal safety:

[0004] Except for a few mines where the entire mining status can be seen from outside the mining area due to factors such as terrain differences, in order to ensure the accuracy of investigation, evidence collection and final characterization, and taking into account the particularity of undercover work, field investigators often need to enter the mining area to observe effective mining-related information such as mining surfaces, transfer sites and solid waste, as well as first-hand information on the activities of personnel, vehicles and mining machinery. Whether they are inside the car or getting off the car for observation and data collection, if they encounter a mine where illegal mining activities are indeed occurring, and drive rashly into the mining area where mining is ongoing, whether they encounter objective environmental accidents such as rolling of mined ore and collapse of mining roads, or man-made accidents such as interrogation by staff and forced expulsion, it may pose a huge threat to the personal safety of the investigators.

[0005] (2) Poor quality of evidence collection:

[0006] When the inspectors enter the mining area, the shooting angle along the mining road is limited, which only reflects the current situation of part of the mining area, which is not comprehensive. Some mines have only a few mining faces in operation, and most of the mining faces have been abandoned after mining. In this case, it is difficult to restore the overall situation of the mining area through a few photos or a video, and there is a risk of missing evidence. In addition to the qualitative analysis of the mine (whether it is mining or not), in terms of the quantitative aspects of mining, such as the specific mining scope of the mine, especially the boundaries of the mining area that has crossed the boundary, the extent of the crossing, the overall mining volume, etc., it is difficult to calculate the precise values ​​only by taking pictures on the ground, which cannot meet the refined management needs of law enforcement departments.

[0007] (3) Verification efficiency is low:

[0008] Because the verification work involves multiple types of minerals in multiple provinces across the country, each mine has different mining methods due to the type of minerals, geological environment characteristics and other conditions, which also makes the road environment in the mining area and the areas that need to be verified vary greatly. In the process of field verification, in order to obtain close-range evidence materials, the process of finding and navigating from provincial roads, rural roads and other main roads to the gate of the mining area, and from the gate of the mining area to the verification of the mining surface occupies most of the field workload. It often takes time to detour due to blocked roads. At the same time, it is subject to the time limit of field work in each area and the influence of weather. Under the high time limit requirements of undercover verification, it is difficult to obtain sufficient supporting materials within the specified time and complete the verification task.

[0009] (4) The application scenarios of drones are relatively simple:

[0010] Drone flight has the advantages of low cost, strong maneuverability, and high data resolution. In recent years, drones have been widely used in the fields of natural resources and mine monitoring, and have become one of the research hotspots in the field of natural resource remote sensing. In order not to attract the attention of mine personnel and to obtain the current status of mining more efficiently and accurately, some field work groups have begun to carry light drones to complete the "last mile" of field verification of mineral satellite images. However, drone flight evidence collection has not yet been integrated into the entire workflow of field verification of mineral satellite images, and the characteristics of drone flight have not yet been included in the considerations of field verification work and route planning. As just an extension of the camera, it is gradually difficult to meet the needs of large-scale and efficient field verification work.

[0011] Therefore, the present invention proposes a light UAV mineral satellite image law enforcement air-ground collaborative system. Summary of the invention

[0012] In response to the problems of high labor costs, low verification efficiency and poor verification quality in the current field spot checks of mineral satellite images, the present invention proposes an air-ground collaborative system for light UAV mineral satellite image law enforcement, which can realize the interactive and collaborative work of light UAVs and ground workstations, and can replace manual labor to implement a large number of field work planning and implementation.

[0013] To achieve the above-mentioned purpose, the present invention provides a light UAV mineral satellite image law enforcement air-ground collaborative system, comprising:

[0014] Data acquisition module: used to obtain and transmit relevant parameters of the drone and gimbal through software development tools;

[0015] UAV communication monitoring module: used to display, monitor and transmit the relevant parameters of the UAV and the gimbal in real time, and send instructions to the UAV;

[0016] Verification planning module: used to retrieve the data sent by the drone communication monitoring module to plan the verification route and verification method;

[0017] Collaborative flight control module: used to control single or multiple drones in automatic flight mode, achieving multi-angle collaborative work at the same verification point;

[0018] Flight data management module: used to store and classify the collected data.

[0019] Preferably, the software development tool comprises:

[0020] Software Development Kit SDK management layer: used to manage SDK registration and drone connection, and provide access to drones;

[0021] Product layer: used to provide basic attributes of different drones;

[0022] Component layer: used to provide different status information of drone-related components;

[0023] Mission control layer: used to provide basic mission execution methods for a single UAV;

[0024] Task layer: used to provide control channels for the basic tasks.

[0025] Preferably, the data acquisition module includes:

[0026] Data transmission unit: used to transmit relevant parameters recorded by the drone, including: drone control mode, drone flight status, drone remaining power, IMU voltage, whether the drone is flying, lateral pitch change, longitudinal pitch change, total distance, GPS longitude, GPS latitude, altitude above the ground, drone heading angle, drone roll angle, drone pitch angle, drone heading angular rate, drone roll angular rate, drone pitch angular rate, flight speed, flight X-axis speed, flight Y-axis speed, flight Z-axis speed, gimbal heading angle, gimbal roll angle and gimbal pitch angle;

[0027] Image transmission unit: used to transmit PTZ video.

[0028] Preferably, the drone communication monitoring module includes:

[0029] A communication link management unit: used to transmit the acquired data according to the communication link of the software development tool and send instructions to the drone;

[0030] UAV status monitoring unit: used to monitor the relevant parameters of the UAV, and provide parameter display, flight map interactive navigation, three-dimensional track display and image transmission screen interactive display functions.

[0031] Preferably, the flight map interactive navigation utilizes AutoNavi SDK to provide location monitoring and location selection functions for drones, realizes the location positioning and display of one or more drones, track display during drone flight and drone log playback, and map viewing and point selection functions; the three-dimensional track display draws and displays the three-dimensional track of the drone based on the OpenGL library, and shows the relative positions between drones.

[0032] Preferably, the verification planning module includes:

[0033] Verification method planning unit: used to select the evidence collection method according to the size and type of the patch information, the importance of the patch manually judged in the early stage and the preferred verification method, and comprehensively consider various factors, and at the same time, according to the preset time of different evidence collection methods and patch area and the flight time of each time, predict the average time consumption as the parameter of route planning; wherein, the evidence collection methods include oblique photography line surveying method, orthophoto line surveying method, panoramic video shooting method and manual shooting method;

[0034] Verification route planning unit: It is used to predict the average time consumed according to the preset time and each flight time of each evidence collection method and map area, and to automatically plan the verification route by combining the call of Amap SDK and weather data parameters, and introducing linear fitting or neural network models. It calculates the weights of various parameters based on the number of days, weather conditions, map location, and other factors.

[0035] Preferably, the collaborative flight control module includes:

[0036] Flight log management unit: used to query the changes in flight trajectory, altitude, and direction over time, and can replay the UAV flight data during the execution of previous missions;

[0037] Flight mode switching unit: used to switch between automatic flight mode and manual flight mode;

[0038] Collaborative flight mission unit: used to perform modeling and surveying flights or key element photography for single or multiple drones.

[0039] Preferably, the collaborative flight control module further includes an element recognition unit, which is used to preliminarily recognize and record the mining machinery, vehicles and personnel in motion.

[0040] Preferably, the flight data management module is used to classify and organize the collected data according to the point number to be verified, including flight logs, flight attitudes, exif information, photos or video materials.

[0041] Compared with the prior art, the present invention has the following advantages and technical effects:

[0042] (1) The present invention integrates the system into the DJI remote controller with screen, and does not require a separate mobile device to deploy the system and observe and monitor flight conditions, thereby reducing the burden of the high-mobility field verification process and achieving lightweight and portability during the verification process;

[0043] (2) Unlike other air-ground collaborative systems, the present invention does not form a formation of drones to perform large-scale operations, but uses a single light drone, or two independent light drones in special cases, to ensure high-efficiency verification and collection of clues for different needs in the same mining area (one drone to build a model survey line and another to take photos and videos of key areas), as well as high mobility in case of emergencies (one-key return and manual return are operated simultaneously);

[0044] (3) The present invention takes into account the working characteristics and existing experience of mineral satellite image law enforcement, combines various factors in the field verification process, and uses linear fitting or neural network models to automatically plan the verification route and method for the entire survey area, saving a lot of manpower in the field verification process. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0046] Figure 1 A technical roadmap of a light UAV mineral satellite image law enforcement air-ground collaborative system according to an embodiment of the present invention;

[0047] Figure 2 This is a structural diagram of the air-ground collaborative system for light UAV mineral satellite image law enforcement according to an embodiment of the present invention;

[0048] Figure 3 The figure is a schematic diagram of the structure of the software development tool SDK according to an embodiment of the present invention. DETAILED DESCRIPTION

[0049] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0050] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0051] The present invention proposes a light UAV mineral satellite image law enforcement air-ground collaborative system, such as Figure 1 ,include:

[0052] Data acquisition module: used to obtain and transmit relevant parameters of the drone and gimbal through software development tools;

[0053] UAV communication monitoring module: used to display, monitor and transmit the relevant parameters of the UAV and the gimbal in real time, and send instructions to the UAV;

[0054] Verification planning module: used to retrieve the data sent by the drone communication monitoring module to plan the verification route and verification method;

[0055] Collaborative flight control module: used to control single or multiple drones in automatic flight mode, achieving multi-angle collaborative work at the same verification point;

[0056] Flight data management module: used to store and classify the collected data.

[0057] The present invention develops a management system through DJI SDK, which is built into the remote controller with screen that comes with the drone, making it easier to build a communication link with the drone. On this basis, functional modules such as aircraft status display, route verification and mode planning, flight coordination, automatic identification, flight collection and log data management are developed. Figure 2 .

[0058] Unlike other air-ground coordination systems, this system does not use drones in formation to carry out large-scale operations, but uses a single light drone, or two independent light drones in special circumstances, to ensure high efficiency in collecting clues for different needs and high mobility in encountering emergencies.

[0059] Specifically, because the deployment environment of the collaborative system is DJI's own remote control with a screen, and the kernel is the Android system, the Android Studio development environment is used to write code according to the designed functions by calling DJI Mobile SDK, Amap SDK and corresponding communication protocols.

[0060] Further, the software development tools include:

[0061] Software Development Kit SDK management layer: used to manage SDK registration and drone connection, and provide access to drones;

[0062] Product layer: used to provide basic attributes of different drones;

[0063] Component layer: used to provide different status information of drone-related components;

[0064] Mission control layer: used to provide basic mission execution methods for a single UAV;

[0065] Task layer: used to provide control channels for the basic tasks.

[0066] The data in the drone remote controller needs to be obtained using the DJI Mobile SDK, which is mainly used to obtain drone and gimbal related data, parse and execute basic instructions, and is the data and control core of this system. The specific hierarchical structure of the software development tool SDK is as follows: Figure 3 As shown in the figure, each layer is responsible for different tasks. The SDK Manager layer (i.e., the software development kit SDK management layer) manages SDK registration and drone connection, and provides access to drones; the Product layer provides basic properties of different drones, and different properties have different information acquisition and control; the Component layer provides different status information of drone-related components; the Mission Control layer provides a few simple task execution methods for a single drone; the Mission layer provides control channels for basic tasks, such as flight control of drones, attitude control of gimbals, and control of camera photography and video recording.

[0067] Furthermore, the data acquisition module includes:

[0068] Data transmission unit: used to transmit the relevant parameters of the drone gimbal, including: drone control mode, drone flight status, drone remaining power, IMU voltage, whether the drone is flying, lateral pitch change, longitudinal pitch change, total distance, GPS longitude, GPS latitude, altitude above the ground, drone heading angle, drone roll angle, drone pitch angle, drone heading angular rate, drone roll angular rate, drone pitch angular rate, flight speed, flight X-axis speed, flight Y-axis speed, flight Z-axis speed, gimbal heading angle, gimbal roll angle and gimbal pitch angle;

[0069] Image transmission unit: used to transmit PTZ video.

[0070] Specifically, both DJI native display and control and this air-ground collaboration system run on the remote controller, have different functions and are two network entities, which can be conveniently connected and communicated through the OSI model. During the interaction, data instructions must reach the drone reliably, and no loss is allowed during the transmission process. These instructions are often text instruction data with a small amount of data, so TCP and UDP can meet the real-time requirements for the amount of data for this load. Based on the high requirements of the air-ground collaboration system for data transmission reliability, the TCP protocol is selected as the connection protocol between DJI native display and control and this air-ground collaboration system.

[0071] The communication between the two systems mainly includes data transmission and image transmission. The data transmission mainly transmits UAV related parameters, including: UAV control mode, UAV flight status, UAV remaining power, IMU voltage, whether the UAV is flying, lateral pitch change, longitudinal pitch change, total distance, GPS longitude, GPS latitude, altitude above the ground, UAV heading angle, UAV roll angle, UAV pitch angle, UAV heading angular rate, UAV roll angular rate, UAV pitch angular rate, flight speed, flight X-axis speed, flight Y-axis speed, flight Z-axis speed, gimbal heading angle, gimbal roll angle, gimbal pitch angle.

[0072] These parameters can be used to display the current status of the drone. Status parameters such as the drone control mode and the drone flight status can be sent at a lower frequency during the sending process, while data that needs to be updated in real time, such as the drone flight speed and GPS, are sent at a higher frequency. Image transmission mainly transmits the drone gimbal video. In order to achieve real-time reproduction of the gimbal video by the ground station software, the drone gimbal screen needs to be obtained through DJI MobileSDK. The SDK provides a method for drone image acquisition, and the acquired images can be sent at a rate of 25 frames per second through conversion and compression.

[0073] Furthermore, the drone communication monitoring module includes:

[0074] A communication link management unit: used to transmit the acquired data according to the communication link of the software development tool and send instructions to the drone;

[0075] UAV status monitoring unit: used to monitor the relevant parameters of the UAV, and provide parameter display, flight map interactive navigation, three-dimensional track display and image transmission screen interactive display functions.

[0076] The main function of the drone status monitoring unit is to monitor the relevant data of the drone. After the communication link management unit parses the above-mentioned raw data and puts it into the ring buffer, the various functions of the monitoring and display module process the required data separately. The main functions include: basic parameter display, flight map interactive navigation, three-dimensional track display and interactive display of image transmission screen.

[0077] Specifically, the flight map interactive navigation uses the AutoNavi SDK to provide drones with location monitoring and location selection functions, realizing the location positioning and display of one or more drones, track display during drone flight and drone log playback, and map viewing and point selection functions; the three-dimensional track display draws and displays the three-dimensional track of the drone based on the OpenGL library, and shows the relative positions between drones.

[0078] Furthermore, the verification planning module includes:

[0079] Verification method planning unit: used to select the evidence collection method according to the size and type of the patch information, the importance of the patch manually judged in the early stage and the preferred verification method, and comprehensively consider various factors, and at the same time, according to the preset time of different evidence collection methods and patch area and the flight time of each time, predict the average time consumption as the parameter of route planning; wherein, the evidence collection methods include oblique photography line surveying method, orthophoto line surveying method, panoramic video shooting method and manual shooting method;

[0080] Verification route planning unit: It is used to predict the average time consumed according to the preset time and each flight time of each evidence collection method and map area, and to automatically plan the verification route by combining the parameters such as the Gaode SDK and weather data to introduce linear fitting or neural network models, and then calculate the weights of various parameters based on the number of days, weather conditions, map location, etc.

[0081] Planning of verification routes and methods. Before each verification, the staff will understand the basic situation of each map spot and then make a preference for the preferred verification method based on its local environment and importance (such as having to reach the map spot, reaching the area around the map spot, or using a drone to take photos at a distance to collect evidence). After the map spot for this verification is imported into the system, the appropriate evidence collection method is selected based on its scope, size, importance of manual marking, and preference for manual verification methods, and based on previous working methods. It is divided into oblique photography lines (the longest time), orthophoto lines, panoramic video shooting, and manual shooting. At the same time, based on the preset time and each flight time of each method and map spot area, the average time is predicted. Combined with the parameters such as the AutoNavi SDK and weather data, linear fitting or neural network models are introduced to calculate the weights of various parameters based on the number of days, weather conditions, map spot location, etc., and automatically plan the verification route for this time.

[0082] Furthermore, the collaborative flight control module includes:

[0083] Flight log management unit: used to query the changes in flight trajectory, altitude, and direction over time, and can replay the UAV flight data during the execution of previous missions;

[0084] Flight mode switching unit: used to switch between automatic flight mode and manual flight mode;

[0085] Collaborative flight mission unit: used to perform modeling and surveying flights or key element photography for single or multiple drones.

[0086] The ESRI neural network machine learning model is called up in the collaborative flight control module, and the previous manual field verification photo classification is imported as learning material to achieve the distinction of major ground categories, perform real-time recognition on the acquired images, and distinguish ground objects such as mines, vehicles, and personnel, making it easier for verification personnel to quickly find focus points and collect evidence in key areas.

[0087] The main purpose of the collaborative flight mission unit is to achieve simple control of single or multiple drones by the collaborative system in automatic flight mode, and to achieve multi-angle collaborative work at the same verification point. This function includes a variety of basic control commands, which are sent by the communication management module to the native display control. After receiving the command, the native display control converts it into the drone SDK execution command to control the drone. In order to perform tasks in automatic flight mode, the collaborative system needs to have several simple control commands for a single machine, such as drone takeoff, drone fly to a designated location, drone take pictures (photos or videos), drone automatically return, and drone land. The process of multiple drones collaboratively executing regional target verification tasks can be divided into several functions: drone arrives at the designated location, selects the verification target, estimates the location of the verification target, and different drones collaborate to collect evidence.

[0088] Specifically, the collaborative flight control module also includes an element recognition unit, which is used to preliminarily identify and record the mining machinery, vehicles and personnel in action.

[0089] Furthermore, the flight data management module is used to classify and organize the collected data according to the point number to be verified, including flight logs, flight attitudes, exif information, photos or video materials.

[0090] In the flight data management module, the verification point data, drone-related data, flight logs and other form data are stored and accessed frequently. Consider using the SQLite database for storage. As a lightweight database, its notable features are easy adaptability and small size. When used in a remote control with a screen that has limited memory and performance, it can ensure that other functions are used normally without being affected.

[0091] The functions required by light drones in mineral satellite law enforcement work, such as drone status monitoring, verification route planning, verification method planning, flight mode switching, collaborative flight missions, automatic element identification, and flight data management, were developed. Finally, DJI Assistant 2 and field tests were conducted to find potential defects in the software and verify whether the expected functions of the software were completed. The software was put into use after the white box and black box testing functions were completed.

[0092] The above are only preferred specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A light UAV mineral satellite image law enforcement air-ground collaborative system, characterized in that: include: Data acquisition module: used to obtain and transmit relevant parameters of the drone and gimbal through software development tools; UAV communication monitoring module: used to display, monitor and transmit the relevant parameters of the UAV and the gimbal in real time, and send instructions to the UAV; Verification planning module: used to retrieve the data sent by the drone communication monitoring module to plan the verification route and verification method; Collaborative flight control module: used to control single or multiple drones in automatic flight mode, achieving multi-angle collaborative work at the same verification point; Flight data management module: used to store and classify the collected data; Wherein, the data acquisition module includes: Data transmission unit: used to transmit relevant parameters recorded by the drone, including: drone control mode, drone flight status, drone remaining power, IMU voltage, whether the drone is flying, lateral pitch change, longitudinal pitch change, total distance, GPS longitude, GPS latitude, altitude above the ground, drone heading angle, drone roll angle, drone pitch angle, drone heading angular rate, drone roll angular rate, drone pitch angular rate, flight speed, flight X-axis speed, flight Y-axis speed, flight Z-axis speed, gimbal heading angle, gimbal roll angle and gimbal pitch angle; Image transmission unit: used to transmit PTZ video; The verification planning module includes: Verification method planning unit: used to select the evidence collection method according to the size and type of the patch information, the importance of the patch manually judged in the early stage and the preferred verification method, and comprehensively consider various factors, and at the same time, according to the preset time of different evidence collection methods and patch area and the flight time of each time, predict the average time consumption as the parameter of route planning; wherein, the evidence collection methods include oblique photography line surveying method, orthophoto line surveying method, panoramic video shooting method and manual shooting method; Verification route planning unit: used to predict the average time consumed according to the preset time and each flight time of each evidence collection method and patch area, and to automatically plan the verification route by combining the call of Amap SDK and weather data parameters, introducing linear fitting or neural network models, and calculating the weights of various parameters based on the number of days, weather conditions, and patch locations; The collaborative flight control module comprises: Flight log management unit: used to query the changes in flight trajectory, altitude, and direction over time, and can replay the UAV flight data during the execution of previous missions; Flight mode switching unit: used to switch between automatic flight mode and manual flight mode; Collaborative flight mission unit: used to perform modeling and line surveying flights or key element photography for a single or multiple drones; The collaborative flight control module also includes an element recognition unit, which is used to preliminarily recognize and record the mining machinery, vehicles and personnel in the activity; The software development tools include: Software Development Kit SDK management layer: used to manage SDK registration and drone connection, and provide access to drones; Product layer: used to provide basic attributes of different drones; Component layer: used to provide different status information of drone-related components; Mission control layer: used to provide basic mission execution methods for a single UAV; Task layer: used to provide control channels for the basic tasks.

2. The light UAV mineral satellite image law enforcement air-ground collaborative system according to claim 1 is characterized in that: The UAV communication monitoring module includes: A communication link management unit: used to transmit the acquired data according to the communication link of the software development tool and send instructions to the drone; UAV status monitoring unit: used to monitor the relevant parameters of the UAV, and provide parameter display, flight map interactive navigation, three-dimensional track display and image transmission screen interactive display functions.

3. The light UAV mineral satellite image law enforcement air-ground collaborative system according to claim 2 is characterized in that: The flight map interactive navigation uses the AutoNavi SDK to provide location monitoring and location selection functions for drones, realize the location positioning and display of one or more drones, track display during drone flight and drone log playback, and map viewing and point selection functions; the three-dimensional track display draws and displays the three-dimensional track of the drone based on the OpenGL library, and shows the relative positions between drones.

4. The light UAV mineral satellite image law enforcement air-ground collaborative system according to claim 1 is characterized in that: The flight data management module is used to classify and organize the collected data according to the point number to be verified, including flight logs, flight attitudes, exif information, photos or video materials.

Images