Implementation method and system for pointed flight of MiniI3 unmanned aerial vehicle in big Xinjiang

Abstract

The invention discloses a pointed flight implementation method and system of a big Xinjiang MINI3 unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicle flight, and the method comprises the steps: developing an APP for achieving the flight at a specified waypoint, and installing the APP on a MINI3 remote controller; the method comprises the following steps: acquiring an App Key by registering an account number of a large Xinjiang developer, configuring an AndroidManifest.xml file, ensuring a USB connection permission, initializing an SDK and establishing connection, and realizing connection between the APP and a large Xinjiang MINI3 unmanned aerial vehicle; a target point of the unmanned aerial vehicle is set, the APP obtains current position coordinates and target point coordinates of the unmanned aerial vehicle, and the distance between the current position of the unmanned aerial vehicle and the target point, the angle relative to the due north direction, the yaw angle relative to the due north direction and the flight time are sequentially calculated; and starting the unmanned aerial vehicle, and continuously adjusting the flight direction and speed of the unmanned aerial vehicle in the flight process of the unmanned aerial vehicle until the unmanned aerial vehicle reaches the target point. According to the invention, the MiniI3 unmanned aerial vehicle can automatically fly according to the preset route, and the use cost of the unmanned aerial vehicle is saved.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle (UAV) flight technology, and in particular to a method and system for realizing the pointing flight of a DJI MINI3 UAV. Background Art

[0002] In today's rapidly developing digital age, drone technology has played an increasingly important role in all walks of life. Among them, drones, as an efficient detection tool, have been widely used in agriculture, breeding, environmental protection and other fields. This is because drones have the characteristics of high efficiency, high precision, high flexibility and strong safety.

[0003] However, how to improve the efficiency of drone inspection has become a very important issue, because drones are limited by battery capacity and it is difficult for them to operate for a long time, and the uneven pilot skills will cause varying degrees of damage to the drones. Therefore, the cost and efficiency of drone inspections are issues of great concern to all industries, and drone automatic inspections are a solution that can effectively improve the efficiency of drone inspections. Summary of the invention

[0004] In view of the needs and shortcomings of current technological development, the present invention provides a method and system for realizing the pointing flight of a DJI MINI3 UAV, which can enable the DJI MINI3 UAV to automatically fly to a target point, and can save at least 20,000 yuan in costs compared with the UAV models of the Mavic 3 Industrial Edition and above provided by the DJI official website.

[0005] In the first aspect, the present invention provides a method for realizing the pointing flight of a DJI MINI3 UAV. The technical solution adopted to solve the above technical problems is as follows:

[0006] A method for implementing the pointing flight of a DJI MINI3 UAV comprises the following steps:

[0007] S1. Develop an APP through MSDK and install it on the MINI3 remote controller. The APP can obtain the current position of the DJI MINI3 drone, calculate the angle and distance to the target point, and realize the flight function of the designated waypoint;

[0008] S2. Register a DJI developer account to obtain the App Key, configure the AndroidManifest.xml file, ensure USB connection permissions, initialize the SDK, and establish a connection to connect the APP to the DJI MINI3 drone.

[0009] S3. Set the target point of the DJI MINI3 drone through the APP, and the APP obtains the current position coordinates of the drone and the target point coordinates;

[0010] S4, APP first calculates the distance between the current position of the drone and the target point, calculates the angle of the drone relative to the true north direction, and then calculates the yaw angle and flight time of the drone relative to the true north direction;

[0011] S5. Start the DJI MINI3 drone, and the drone starts to fly to the target point. During the flight of the drone, the APP monitors the flight progress and flight status of the drone in real time through the built-in monitoring task. At the same time, the APP executes step S4 regularly through the built-in timing task, and adjusts the flight direction and speed of the drone according to the execution result until the drone reaches the target point.

[0012] Optionally, execute step S2 to connect the APP to the DJI MINI3 drone, which specifically includes the following operations:

[0013] S2.1. Register a DJI developer account to obtain the App Key: Register a developer account on the DJI official website and create a new application to obtain the App Key, which is used to verify the connection between the APP and the drone. When creating an application, fill in the application name, development platform Android and package name, and bind these three pieces of information to the App Key. After completing the above steps, the developer will receive an activation email. Click the link in the activation email to complete the generation of the App Key. Find and copy the App Key in the DJI Developer Center.

[0014] S2.2, Configure AndroidManifest.xml file: In the AndroidManifest.xml file, add permissions including network access, read and write external storage, and location information access to ensure that the APP can normally receive drone signals, store data, and obtain location information; declare the permission to use USB accessories to allow the APP to establish communication with the drone remote control through USB; paste the copied App Key to the specified location of the AndroidManifest.xml file;

[0015] S2.3. Ensure USB connection permissions: Turn on USB debugging mode on the phone and correctly configure intent-filter in the AndroidManifest.xml file to ensure that the Android system can correctly trigger the APP when the USB device, i.e. the drone remote controller, is connected; during the development process, use the command line tool to check the list of currently connected USB devices to ensure that the phone can recognize and correctly connect to the specified drone remote controller;

[0016] S2.4, Initialize SDK: Import the MSDK library in the APP code and make corresponding settings according to the official documentation. These settings include defining the drone connection callback function and creating a drone instance; setting a listener to handle the drone connection success or failure events; when the APP is started, initialize the flight configuration object, including the flight altitude and flight speed, so that flight control can be performed immediately after the connection is successful;

[0017] S2.5. Establish a connection: Call the connection function provided by MSDK, pass in the MAC address of the drone, and try to establish a connection; after the connection is established, confirm whether the connection has been successful by querying the connection status of the drone object. If the connection fails, perform corresponding exception handling based on the error message; after a successful connection, the APP has the function of automatically detecting and reconnecting to the drone.

[0018] Optionally, step S3 specifically includes the following operations:

[0019] S3.1. The Mobile SDK of DJI MINI3 drone is integrated in the APP. The APP obtains the real-time status information of the drone through the API interface provided by the Mobile SDK, and sends control commands to control the behavior of the drone.

[0020] S3.2. Perform SDK initialization in the APP to ensure that the APP can receive the flight data of the drone in real time;

[0021] S3.3. Provide an input interface in the user interface of the APP to allow the user to enter or select the geographic coordinates of the target point;

[0022] S3.4. The APP receives the current location information of the drone in real time through the location acquisition function provided by MSDK.

[0023] Optionally, step S4 specifically includes the following operations:

[0024] S4.1. The APP uses the Haversine formula to calculate the distance between the current position of the drone and the target point;

[0025] S4.2. The APP calculates the angle of the drone relative to the true north direction by using geometric and trigonometric functions based on the current position coordinates of the drone and the coordinates of the target point;

[0026] S4.3. The APP calculates the yaw angle of the drone relative to the true north direction based on the relative angle between the drone's current position and the target point, and estimates the drone's flight time based on the drone's initialization flight speed / set flight speed and the distance between the drone's current position and the target point.

[0027] Optionally, the APP developed by MSDK uses the Android development framework to integrate DJI MSDK-Android5.8.0. The APP uses the MSDK's virtual joystick interface to enable the APP to control the takeoff, landing, flight attitude and steering of the DJI MINI3 drone.

[0028] In the second aspect, the present invention provides a pointing flight realization system for a DJI MINI3 UAV, and the technical solutions adopted to solve the above technical problems are as follows:

[0029] A pointing flight realization system for a DJI MINI3 UAV, comprising a preparation part and a pointing flight part, wherein:

[0030] The preparation part includes:

[0031] Development and deployment module, used to develop an APP through MSDK and deploy it on the MINI3 remote controller. The APP can obtain the current position of the DJI MINI3 drone, calculate the angle and distance to the target point, and realize the designated waypoint flight function;

[0032] The connection establishment module is used to obtain the App Key by registering a DJI developer account, configure the AndroidManifest.xml file, ensure USB connection permissions, initialize the SDK, and establish a connection to connect the APP to the DJI MINI3 drone;

[0033] The pointing flight part includes an APP deployed on the MINI3 remote controller, which specifically includes the following modules:

[0034] Information input module, used to assist users in setting the target point of DJI MINI3 drone;

[0035] Position acquisition module, used to obtain the current position coordinates and target point coordinates of the drone;

[0036] A calculation module is used to sequentially calculate the distance between the current position of the UAV and the target point, calculate the angle of the UAV relative to the true north direction, calculate the yaw angle of the UAV relative to the true north direction and the flight time;

[0037] A real-time monitoring module is used to monitor the flight progress and flight status of the drone in real time as it flies to the target point;

[0038] A timed task module is used to call the position acquisition module and the calculation module through a timed task when the UAV flies to the target point;

[0039] The flight adjustment module is used to adjust the flight direction and speed of the UAV according to the calculation results of the calculation module until the UAV reaches the target point.

[0040] Optionally, connect the APP to the DJI MINI3 drone through the connection establishment module. The specific process is as follows:

[0041] Register a DJI developer account to obtain the App Key: Register a developer account on the DJI official website and create a new application to obtain the App Key, which is used to verify the connection between the APP and the drone; when creating an application, fill in the application name, development platform Android and package name Package Name, and bind these three pieces of information to the App Key; after completing the above steps, the developer will receive an activation email, and click the link in the activation email to complete the generation of the App Key; find and copy the App Key in the DJI Developer Center;

[0042] Configure the AndroidManifest.xml file: In the AndroidManifest.xml file, add permissions including network access, read and write external storage, and location information access to ensure that the APP can normally receive drone signals, store data, and obtain location information; declare the permission to use USB accessories to allow the APP to establish communication with the drone remote control through USB; paste the copied App Key to the specified location in the AndroidManifest.xml file;

[0043] Ensure USB connection permissions: Turn on USB debugging mode on the phone and correctly configure intent-filter in the AndroidManifest.xml file to ensure that the Android system can correctly trigger the APP when the USB device, i.e. the drone remote controller, is connected; during the development process, use the command line tool to check the list of currently connected USB devices to ensure that the phone can recognize and correctly connect to the specified drone remote controller;

[0044] Initialize SDK: Import the MSDK library in the APP code and make corresponding settings according to the official documentation. These settings include defining the drone connection callback function and creating a drone instance; setting a listener to handle the drone connection success or failure events; when the APP starts, initialize the flight configuration object, including the flight altitude and flight speed, so that flight control can be performed immediately after the connection is successful;

[0045] Establish a connection: call the connection function provided by MSDK, pass in the MAC address of the drone, and try to establish a connection; after the connection is established, confirm whether the connection has been successfully established by querying the connection status of the drone object. If the connection fails, perform corresponding exception handling based on the error message; after a successful connection, the APP has the function of automatically detecting and reconnecting to the drone.

[0046] Optionally, the Mobile SDK of DJI MINI3 drone is integrated in the APP involved, and the APP sends control instructions through the API interface provided by MobileSDK to control the behavior of the drone;

[0047] The APP also includes an initialization module, which is used to perform SDK initialization operations to ensure that the APP can receive the flight data of the drone in real time;

[0048] The information input module serves as a user interface and provides an input interface, which allows the user to input or select the geographic coordinates of the target point;

[0049] The location acquisition module obtains the current location information of the drone in real time through the location acquisition function provided by the Mobile SDK.

[0050] Optionally, the calculation module involved first uses the Haversine formula to calculate the distance between the current position of the UAV and the target point, and then calculates the angle of the UAV relative to the true north direction based on the current position coordinates of the UAV and the target point coordinates through geometric and trigonometric functions. Finally, based on the relative angle between the current position of the UAV and the target point, the yaw angle of the UAV relative to the true north direction is calculated, and the flight time of the UAV is estimated based on the initialization flight speed / set flight speed of the UAV and the distance between the current position of the UAV and the target point.

[0051] Optionally, the development and deployment module involved integrates DJI MSDK-Android 5.8.0 through the APP developed by MSDK using the android development framework. The APP uses the virtual joystick interface of MSDK to enable the APP to control the take-off, landing, flight attitude and steering of the DJI MINI3 drone.

[0052] Compared with the prior art, the method and system for realizing the pointing flight of the DJI MINI3 UAV of the present invention have the following beneficial effects:

[0053] The present invention can enable the DJI MINI 3 UAV to automatically fly according to a preset route, achieving an automatic flight function that is only available on models above the DJI Mavic 3 Enterprise Edition, thereby saving the use cost of the UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Attached Figure 1 is a flow chart of a method according to Embodiment 1 of the present invention;

[0055] Attached Figure 2 This is a module connection block diagram of the second embodiment of the present invention. DETAILED DESCRIPTION

[0056] In order to make the technical solution, the technical problem solved and the technical effect of the present invention more clearly understood, the technical solution of the present invention is clearly and completely described below in conjunction with specific embodiments.

[0057] Embodiment 1:

[0058] Combined with Figure 1 This embodiment proposes a method for implementing the pointing flight of a DJI MINI3 drone, which includes the following steps:

[0059] S1. Develop an APP through MSDK and install it on the MINI3 remote controller. The APP can obtain the current position of the DJI MINI3 drone, calculate the angle and distance to the target point, and realize the designated waypoint flight function.

[0060] MSDK is a set of software development tools specially designed by DJI to meet the various needs of developers in the field of drone applications. Starting from MSDK V5, DJI provides developers with rich functions and better performance, making it easier for developers to integrate drones into their own systems or products.

[0061] The APP developed by MSDK uses the Android development framework to integrate DJI MSDK-Android 5.8.0. The MSDK's virtual joystick interface is used in the APP to enable the APP to control the takeoff, landing, flight attitude and steering of the DJI MINI3 drone.

[0062] S2. Register a DJI developer account to obtain the App Key, configure the AndroidManifest.xml file, ensure USB connection permissions, initialize the SDK, and establish a connection to connect the APP to the DJI MINI3 drone. The specific operations include the following:

[0063] S2.1. Register a DJI developer account to obtain the App Key: Register a developer account on the DJI official website and create a new application to obtain the App Key, which is used to verify the connection between the APP and the drone. When creating an application, fill in the application name, development platform Android and package name, and bind these three pieces of information to the App Key. After completing the above steps, the developer will receive an activation email. Click the link in the activation email to complete the generation of the App Key. Find and copy the App Key in the DJI Developer Center.

[0064] S2.2, Configure AndroidManifest.xml file: In the AndroidManifest.xml file, add permissions including network access, read and write external storage, and location information access to ensure that the APP can normally receive drone signals, store data, and obtain location information; declare the permission to use USB accessories to allow the APP to establish communication with the drone remote control through USB; paste the copied App Key to the specified location of the AndroidManifest.xml file;

[0065] S2.3. Ensure USB connection permissions: Turn on USB debugging mode on the phone and correctly configure intent-filter in the AndroidManifest.xml file to ensure that the Android system can correctly trigger the APP when the USB device, i.e. the drone remote controller, is connected; during the development process, use the command line tool to check the list of currently connected USB devices to ensure that the phone can recognize and correctly connect to the specified drone remote controller;

[0066] S2.4, Initialize SDK: Import the MSDK library in the APP code and make corresponding settings according to the official documentation. These settings include defining the drone connection callback function and creating a drone instance; setting a listener to handle the drone connection success or failure events; when the APP is started, initialize the flight configuration object, including the flight altitude and flight speed, so that flight control can be performed immediately after the connection is successful;

[0067] S2.5. Establish a connection: Call the connection function provided by MSDK, pass in the MAC address of the drone, and try to establish a connection; after the connection is established, confirm whether the connection has been successful by querying the connection status of the drone object. If the connection fails, perform corresponding exception handling based on the error message; after a successful connection, the APP has the function of automatically detecting and reconnecting to the drone.

[0068] S3. Set the target point of the DJI MINI3 drone through the APP. The APP obtains the current position coordinates of the drone and the target point coordinates. The specific operations include the following:

[0069] S3.1. The APP integrates the Mobile SDK of DJI MINI3 UAV. The APP obtains the real-time status information of the UAV through the API interface provided by the Mobile SDK. At the same time, it sends control commands to control the behavior of the UAV, such as take-off, landing, flying to a specified location, etc.

[0070] S3.2. Perform SDK initialization in the APP to ensure that the APP can receive the flight data of the drone in real time;

[0071] S3.3. Provide an input interface in the user interface of the APP to allow the user to enter or select the geographic coordinates of the target point;

[0072] S3.4. The APP receives the current location information of the drone in real time through the location acquisition function provided by MSDK.

[0073] S4. The APP first calculates the distance between the current position of the drone and the target point, calculates the angle of the drone relative to the true north direction, and then calculates the yaw angle and flight time of the drone relative to the true north direction. The specific operations include the following:

[0074] S4.1. The APP uses the Haversine formula to calculate the distance between the current position of the drone and the target point;

[0075] S4.2. The APP calculates the angle of the drone relative to the true north direction by using geometric and trigonometric functions based on the current position coordinates of the drone and the coordinates of the target point;

[0076] S4.3. The APP calculates the yaw angle of the drone relative to the true north direction based on the relative angle between the drone's current position and the target point, and estimates the drone's flight time based on the drone's initialization flight speed / set flight speed and the distance between the drone's current position and the target point.

[0077] S5. Start the DJI MINI3 drone, and the drone starts to fly to the target point. During the flight of the drone, the APP monitors the flight progress and flight status of the drone in real time through the built-in monitoring task. At the same time, the APP executes step S4 regularly through the built-in timing task, and adjusts the flight direction and speed of the drone according to the execution result until the drone reaches the target point.

[0078] Embodiment 2:

[0079] Combined with Figure 2 This embodiment proposes a pointing flight implementation system for a DJI MINI3 drone, which includes a preparation part and a pointing flight part, wherein:

[0080] The preparation part includes:

[0081] Development and deployment module, used to develop an APP through MSDK and deploy it on the MINI3 remote controller. The APP can obtain the current position of the DJI MINI3 drone, calculate the angle and distance to the target point, and realize the designated waypoint flight function;

[0082] The connection establishment module is used to obtain the App Key by registering a DJI developer account, configure the AndroidManifest.xml file, ensure USB connection permissions, initialize the SDK, and establish a connection to connect the APP to the DJI MINI3 drone;

[0083] The pointing flight part includes an APP deployed on the MINI3 remote controller, which specifically includes the following modules:

[0084] Information input module, used to assist users in setting the target point of DJI MINI3 drone;

[0085] Position acquisition module, used to obtain the current position coordinates and target point coordinates of the drone;

[0086] A calculation module is used to sequentially calculate the distance between the current position of the UAV and the target point, calculate the angle of the UAV relative to the true north direction, calculate the yaw angle of the UAV relative to the true north direction and the flight time;

[0087] A real-time monitoring module is used to monitor the flight progress and flight status of the drone in real time as it flies to the target point;

[0088] A timed task module is used to call the position acquisition module and the calculation module through a timed task when the UAV flies to the target point;

[0089] The flight adjustment module is used to adjust the flight direction and speed of the UAV according to the calculation results of the calculation module until the UAV reaches the target point.

[0090] In this embodiment, the development and deployment module integrates DJI MSDK-Android 5.8.0 using the Android development framework through the APP developed by MSDK. The virtual joystick interface of MSDK is used in the APP to enable the APP to control the take-off, landing, flight attitude and steering of the DJI MINI3 drone.

[0091] In this embodiment, the connection between the APP and the DJI MINI3 drone is realized through the connection establishment module. The specific process is as follows:

[0092] Register a DJI developer account to obtain the App Key: Register a developer account on the DJI official website and create a new application to obtain the App Key, which is used to verify the connection between the APP and the drone; when creating an application, fill in the application name, development platform Android and package name Package Name, and bind these three pieces of information to the App Key; after completing the above steps, the developer will receive an activation email, and click the link in the activation email to complete the generation of the App Key; find and copy the App Key in the DJI Developer Center;

[0093] Configure the AndroidManifest.xml file: In the AndroidManifest.xml file, add permissions including network access, read and write external storage, and location information access to ensure that the APP can normally receive drone signals, store data, and obtain location information; declare the permission to use USB accessories to allow the APP to establish communication with the drone remote control through USB; paste the copied App Key to the specified location in the AndroidManifest.xml file;

[0094] Ensure USB connection permissions: Turn on USB debugging mode on the phone and correctly configure intent-filter in the AndroidManifest.xml file to ensure that the Android system can correctly trigger the APP when the USB device, i.e. the drone remote controller, is connected; during the development process, use the command line tool to check the list of currently connected USB devices to ensure that the phone can recognize and correctly connect to the specified drone remote controller;

[0095] Initialize SDK: Import the MSDK library in the APP code and make corresponding settings according to the official documentation. These settings include defining the drone connection callback function and creating a drone instance; setting a listener to handle the drone connection success or failure events; when the APP starts, initialize the flight configuration object, including the flight altitude and flight speed, so that flight control can be performed immediately after the connection is successful;

[0096] Establish a connection: call the connection function provided by MSDK, pass in the MAC address of the drone, and try to establish a connection; after the connection is established, confirm whether the connection has been successfully established by querying the connection status of the drone object. If the connection fails, perform corresponding exception handling based on the error message; after a successful connection, the APP has the function of automatically detecting and reconnecting to the drone.

[0097] In this embodiment, the Mobile SDK of DJI MINI3 drone is integrated in the APP involved, and the APP sends control instructions through the API interface provided by the Mobile SDK to control the behavior of the drone;

[0098] The APP also includes an initialization module, which is used to perform SDK initialization operations to ensure that the APP can receive the flight data of the drone in real time;

[0099] The information input module serves as a user interface and provides an input interface, which allows the user to input or select the geographic coordinates of the target point;

[0100] The location acquisition module obtains the current location information of the drone in real time through the location acquisition function provided by the Mobile SDK.

[0101] In this embodiment, the calculation module involved first uses the Haversine formula to calculate the distance between the current position of the drone and the target point, and then calculates the angle of the drone relative to the true north direction based on the current position coordinates of the drone and the target point coordinates through geometric and trigonometric functions. Finally, based on the relative angle between the current position of the drone and the target point, the yaw angle of the drone relative to the true north direction is calculated, and the flight time of the drone is estimated based on the initialization flight speed / set flight speed of the drone and the distance between the current position of the drone and the target point.

[0102] In summary, the method and system for realizing the pointing flight of a DJI MINI3 UAV of the present invention can enable the DJI MINI3 UAV to automatically fly according to a preset route, achieving the automatic flight function that only models above the DJI Mavic 3 Enterprise Edition have, thereby saving the use cost of the UAV.

[0103] The above specific examples are used to explain the principles and implementation methods of the present invention in detail. These examples are only used to help understand the core technical content of the present invention. Based on the above specific embodiments of the present invention, any improvements and modifications made by technicians in this technical field without departing from the principles of the present invention should fall within the scope of patent protection of the present invention.

Claims

1. A method for implementing the pointing flight of a DJI MINI3 UAV, characterized in that: The steps include: S1. Develop an APP through MSDK and install it on the MINI3 remote controller. The APP can obtain the current position of the DJI MINI3 drone, calculate the angle and distance to the target point, and realize the flight function of the designated waypoint; S2. Register a DJI developer account to obtain the App Key, configure the AndroidManifest.xml file, ensure USB connection permissions, initialize the SDK, and establish a connection to connect the APP to the DJI MINI3 drone. S3. Set the target point of the DJI MINI3 drone through the APP, and the APP obtains the current position coordinates of the drone and the target point coordinates; S4, APP first calculates the distance between the current position of the drone and the target point, calculates the angle of the drone relative to the true north direction, and then calculates the yaw angle and flight time of the drone relative to the true north direction; S5. Start the DJI MINI3 drone and it will start flying towards the target point. During the flight of the drone, the APP monitors the flight progress and flight status of the drone in real time through the built-in monitoring task. At the same time, the APP executes step S4 regularly through the built-in timing task, and adjusts the flight direction and speed of the drone according to the execution result until the drone reaches the target point.

2. The method for realizing the pointing flight of the DJI MINI3 UAV according to claim 1, characterized in that: Execute step S2 to connect the APP to the DJI MINI3 drone, including the following operations: S2.

1. Register a DJI developer account to obtain the App Key: Register a developer account on the DJI official website and create a new application to obtain the App Key, which is used to verify the connection between the APP and the drone. When creating an application, fill in the application name, development platform Android and package name, and bind these three pieces of information to the App Key. After completing the above steps, the developer will receive an activation email. Click the link in the activation email to complete the generation of the App Key. Find and copy the App Key in the DJI Developer Center. S2.2, Configure AndroidManifest.xml file: In the AndroidManifest.xml file, add permissions including network access, read and write external storage, and location information access to ensure that the APP can normally receive drone signals, store data, and obtain location information; declare the permission to use USB accessories to allow the APP to establish communication with the drone remote control through USB; paste the copied App Key to the specified location of the AndroidManifest.xml file; S2.

3. Ensure USB connection permissions: Turn on USB debugging mode on the phone and correctly configure intent-filter in the AndroidManifest.xml file to ensure that the Android system can correctly trigger the APP when the USB device, i.e. the drone remote controller, is connected; During the development process, use the command line tool to check the currently connected USB device list to ensure that the phone can recognize and correctly connect to the specified drone remote controller; S2.4, Initialize SDK: Import the MSDK library in the APP code and make corresponding settings according to the official documentation. These settings include defining the drone connection callback function and creating a drone instance; setting a listener to handle the drone connection success or failure events; when the APP is started, initialize the flight configuration object, including the flight altitude and flight speed, so that flight control can be performed immediately after the connection is successful; S2.5, Establish connection: Call the connection function provided by MSDK, pass in the MAC address of the drone, and try to establish a connection; after the connection is established, query the connection status of the drone object to confirm whether the connection has been successfully established. If the connection fails, perform corresponding exception handling according to the error information; After successful connection, the APP has the function of automatically detecting and reconnecting to the drone.

3. The method for realizing the pointing flight of the DJI MINI3 UAV according to claim 1, characterized in that: The step S3 specifically includes the following operations: S3.

1. The APP integrates the Mobile SDK of DJI MINI3 drone. The APP obtains the real-time status information of the drone through the API interface provided by the Mobile SDK, and sends control commands to control the behavior of the drone. S3.

2. Perform SDK initialization in the APP to ensure that the APP can receive the flight data of the drone in real time; S3.

3. Provide an input interface in the user interface of the APP to allow the user to enter or select the geographic coordinates of the target point; S3.

4. The APP receives the current location information of the drone in real time through the location acquisition function provided by MSDK.

4. The method for realizing the pointing flight of the DJI MINI3 UAV according to claim 1, characterized in that: The step S4 specifically includes the following operations: S4.

1. The APP uses the Haversine formula to calculate the distance between the current position of the drone and the target point; S4.

2. The APP calculates the angle of the drone relative to the true north direction by using geometric and trigonometric functions based on the current position coordinates of the drone and the coordinates of the target point; S4.

3. The APP calculates the yaw angle of the drone relative to the true north direction based on the relative angle between the drone's current position and the target point, and estimates the drone's flight time based on the drone's initialization flight speed / set flight speed and the distance between the drone's current position and the target point.

5. The method for realizing the pointing flight of the DJI MINI3 UAV according to claim 1, characterized in that: The APP developed by MSDK uses the Android development framework to integrate DJI MSDK-Android 5.8.

0. The MSDK's virtual joystick interface is used in the APP to enable the APP to control the takeoff, landing, flight attitude and steering of the DJI MINI3 drone.

6. A pointing flight realization system for DJI MINI3 UAV, characterized in that: It includes a preparation part and a flight guidance part, in which: The preparation part includes: Development and deployment module, used to develop an APP through MSDK and deploy it on the MINI3 remote controller. The APP can obtain the current position of the DJI MINI3 drone, calculate the angle and distance to the target point, and realize the designated waypoint flight function; The connection establishment module is used to obtain the App Key by registering a DJI developer account, configure the AndroidManifest.xml file, ensure USB connection permissions, initialize the SDK, and establish a connection to connect the APP to the DJI MINI3 drone; The pointing flight part includes an APP deployed on the MINI3 remote controller, which specifically includes the following modules: Information input module, used to assist users in setting the target point of DJI MINI3 drone; Position acquisition module, used to obtain the current position coordinates and target point coordinates of the drone; A calculation module is used to sequentially calculate the distance between the current position of the UAV and the target point, calculate the angle of the UAV relative to the true north direction, calculate the yaw angle of the UAV relative to the true north direction and the flight time; A real-time monitoring module is used to monitor the flight progress and flight status of the drone in real time as it flies to the target point; A timed task module is used to call the position acquisition module and the calculation module through a timed task when the UAV flies to the target point; The flight adjustment module is used to adjust the flight direction and speed of the UAV according to the calculation results of the calculation module until the UAV reaches the target point.

7. The pointing flight realization system of DJI MINI3 UAV according to claim 6, characterized in that: The connection between the APP and the DJI MINI3 drone is realized through the connection establishment module. The specific process is as follows: Register a DJI developer account to obtain the App Key: Register a developer account on the DJI official website and create a new application to obtain the App Key, which is used to verify the connection between the APP and the drone; when creating an application, fill in the application name, development platform Android and package name Package Name, and bind these three pieces of information to the App Key; after completing the above steps, the developer will receive an activation email, and click the link in the activation email to complete the generation of the App Key; find and copy the App Key in the DJI Developer Center; Configure the AndroidManifest.xml file: In the AndroidManifest.xml file, add permissions including network access, read and write external storage, and location information access to ensure that the APP can normally receive drone signals, store data, and obtain location information; declare the permission to use USB accessories to allow the APP to establish communication with the drone remote control through USB; paste the copied App Key to the specified location in the AndroidManifest.xml file; Ensure USB connection permissions: Turn on USB debugging mode on the phone and correctly configure the intent-filter in the AndroidManifest.xml file to ensure that the Android system can correctly trigger the APP when the USB device, i.e. the drone remote controller, is connected; During the development process, use the command line tool to check the currently connected USB device list to ensure that the phone can recognize and correctly connect to the specified drone remote controller; Initialize SDK: Import the MSDK library in the APP code and make corresponding settings according to the official documentation. These settings include defining the drone connection callback function and creating a drone instance; setting a listener to handle the drone connection success or failure events; when the APP starts, initialize the flight configuration object, including the flight altitude and flight speed, so that flight control can be performed immediately after the connection is successful; Establish a connection: call the connection function provided by MSDK, pass in the MAC address of the drone, and try to establish a connection; after the connection is established, query the connection status of the drone object to confirm whether the connection has been successfully established. If the connection fails, perform corresponding exception handling according to the error information; After successful connection, the APP has the function of automatically detecting and reconnecting to the drone.

8. The pointing flight realization system for DJI MINI3 UAV according to claim 6, characterized in that: The APP integrates the Mobile SDK of DJI MINI3 drone, and the APP sends control instructions through the API interface provided by the Mobile SDK to control the behavior of the drone; The APP also includes an initialization module for performing SDK initialization operations to ensure that the APP can receive the flight data of the drone in real time; The information input module serves as a user interface and provides an input interface that allows the user to input or select the geographic coordinates of the target point; The location acquisition module obtains the current location information of the drone in real time through the location acquisition function provided by the Mobile SDK.

9. The pointing flight realization system of DJI MINI3 UAV according to claim 6, characterized in that: The calculation module first uses the Haversine formula to calculate the distance between the current position of the drone and the target point, then calculates the angle of the drone relative to the true north direction based on the current position coordinates of the drone and the target point coordinates through geometric and trigonometric functions, and finally calculates the yaw angle of the drone relative to the true north direction based on the relative angle between the current position of the drone and the target point, and estimates the flight time of the drone based on the initialization flight speed / set flight speed of the drone and the distance between the current position of the drone and the target point.

10. The pointing flight realization system of DJI MINI3 UAV according to claim 6, characterized in that: The development and deployment module integrates DJI MSDK-Android 5.8.0 through the APP developed by MSDK using the Android development framework. The virtual joystick interface of MSDK is used in the APP to enable the APP to control the take-off, landing, flight attitude and steering of the DJI MINI3 drone.

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