Guiding system based on vehicle-mounted accompanying flight unmanned aerial vehicle

Abstract

The invention belongs to the technical field of unmanned aerial vehicle accompanying flight, and particularly relates to a guiding system based on a vehicle-mounted accompanying flight unmanned aerial vehicle, which comprises the steps of carrying out state calculation on the unmanned aerial vehicle, judging whether the unmanned aerial vehicle reaches a take-off condition, checking battery power endurance of the unmanned aerial vehicle, whether a communication link is stable, and whether sending and receiving states of a control instruction are normal. The vehicle-mounted interaction platform is in signal transmission with the vehicle-mounted terminal, obtains the position information and state of the unmanned aerial vehicle in real time, maps the position information and state to a vehicle-mounted terminal screen and keeps a real-time interaction state with the unmanned aerial vehicle, and the vehicle-mounted terminal obtains the flight normal state information and the flight dynamic information of the unmanned aerial vehicle in real time and controls the unmanned aerial vehicle according to the two-state information of the unmanned aerial vehicle. The vehicle-mounted terminal can select to take over or the vehicle-mounted trusteeship platform to perform trusteeship, and the control system can send a landing instruction. According to the invention, exploration operation tasks in a large area can be completed more quickly and autonomously, dangers possibly foreseen by vehicles are avoided or eliminated, the driving safety is improved, and the dependence of the unmanned aerial vehicle on manual control is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of accompanying unmanned aerial vehicles, and in particular relates to a guidance system based on a vehicle-mounted accompanying unmanned aerial vehicle. Background Art

[0002] The UAV vehicle-mounted companion flight technology is an innovative technology that combines UAVs with ground vehicles (such as cars, trucks, etc.). It aims to provide unprecedented flexibility and efficiency for logistics, emergency response, mobile reconnaissance and other scenarios through the dynamic take-off and landing, aerial monitoring and data transmission functions of UAVs. The core of the UAV vehicle-mounted companion flight technology lies in the design of the dynamic take-off and landing platform. The platform is usually installed on the top or rear of the vehicle and has functions such as stability, shock absorption, and wind protection to ensure that the UAV can take off and land safely and smoothly during the vehicle's driving. At the same time, the platform must also have automated control capabilities and be able to automatically adjust its position and posture according to the vehicle status and environmental conditions to adapt to different flight needs.

[0003] The vehicle-mounted UAV companion flight system is responsible for executing specific flight missions, such as aerial photography and data transmission; the dynamic take-off and landing platform is the infrastructure for UAV take-off and landing; the real-time communication and data transmission system ensures real-time communication and data transmission between the UAV and the ground vehicle; the ground control system is responsible for monitoring the flight status of the UAV, sending flight instructions and other tasks. With the continuous advancement of technology and the expansion of application scenarios, the vehicle-mounted UAV companion flight technology will show an intelligent, integrated, diversified and standardized development trend. However, when the UAV is in the vehicle-mounted companion flight process, the vehicle-mounted UAV system is usually equipped with a fully automatic UAV flight system. Although users can remotely control and monitor the UAV in the car without getting off the car, this control method is still too single and the range is also limited by the location of the vehicle. In addition, during driving, the operation of the UAV is too dependent on manual feedback, which increases driving risks. Summary of the invention

[0004] The purpose of the present invention is to provide a guidance system based on a vehicle-mounted companion drone, which can complete exploration tasks in large areas more quickly and autonomously, avoid or eliminate dangers that may be foreseeable by the vehicle, improve driving safety and reduce the drone's dependence on human control.

[0005] The technical solution adopted by the present invention is as follows:

[0006] A guidance system based on a vehicle-mounted accompanying UAV, comprising:

[0007] S1: The drone performs state calculation to determine whether the drone meets the take-off conditions, checks the drone's battery life, whether the communication link is stable, and whether the control command sending and receiving status are normal;

[0008] S2: The vehicle-mounted interactive platform transmits signals to the vehicle-mounted terminal, obtains the drone's location information and status in real time, and maps it to the vehicle-mounted terminal screen to maintain real-time interaction with the drone;

[0009] S3: The vehicle-mounted terminal obtains the normal flight information and dynamic flight information of the drone in real time, and according to the two-state information of the drone, the vehicle-mounted terminal can choose to take over or host it on the vehicle-mounted hosting platform;

[0010] S4: After the drone completes its flight, the control system will issue a landing command to guide the drone back to the preset landing point or the safe area designated by the vehicle. At the same time, the control system checks and records the status of the drone.

[0011] In a preferred solution, if the drone does not meet the take-off conditions, the drone is in a pending state, or the vehicle-mounted terminal obtains flight authority and the operator controls the flight;

[0012] If the drone meets the take-off conditions, the control system will issue a command to drive the fixing / releasing mechanism to release the drone. After release, the drone will follow the vehicle or hover above the vehicle waiting to receive commands.

[0013] When the drone meets the flight conditions, it can choose to enter autonomous managed flight state or the operator can exercise flight authority to fly according to the preset flight trajectory or real-time instructions.

[0014] In a preferred solution, the vehicle-mounted interactive platform records the two-state data of the drone, and responds instantly to the target vehicle based on the recorded data combined with the algorithm, wherein:

[0015] Normal information includes: UAV status, payload, link establishment, situation, power and voltage, camera image feedback, pressure parameter information, high altitude environment parameters and UAV altitude parameters, and provides voice, keyboard, joystick and other input methods for human-machine interactive control;

[0016] Dynamic information includes: situational awareness, flight monitoring parameters, status monitoring parameters and data integration parameters, and the acquisition of the current position information of the UAV and the current position information of the target vehicle relative to the UAV, so that the on-board terminal can understand various information about the flight status of the UAV in real time.

[0017] In a preferred solution, the dynamic information specifically includes:

[0018] Situational awareness: by integrating normal information data and integrating the UAV route, payload and link, the comprehensive UAV picture reconnaissance information is displayed on the terminal screen to make flight decisions;

[0019] Flight monitoring: comprehensive display and control of the UAV’s flight attitude, altitude, position and other information;

[0020] Status monitoring: Display and control information of optoelectronic, radar and other loads, as well as information of link status, channel, bandwidth, etc.;

[0021] Data fusion and comprehensive processing: Match and fuse the feedback information from the drone payload reconnaissance as input for situational awareness, as well as frame, parse and display the above data to the terminal.

[0022] In a preferred embodiment, the vehicle hosting platform includes:

[0023] Vehicle speed acquisition module: when a target vehicle appears under the drone, the drone and the vehicle interact in real time to obtain each other's speed information, so as to adjust or match the drone's speed in real time according to the terminal selection;

[0024] The receiving module receives the speed information of the UAV and the vehicle, and feeds it back to the vehicle terminal screen to generate the UAV accompanying flight decision;

[0025] The command output module outputs the command of the accompanying flight decision generated by the receiving module to the UAV. The UAV detects the driving status of the target vehicle through the built-in radar or laser sensor, and the UAV makes corresponding changes to the command to ensure that the relative position with the target object remains unchanged;

[0026] Feedback module: This module is responsible for receiving instructions and data, performing real-time calculations, and controlling the flight attitude and trajectory of the drone. The drone adjusts its flight speed and direction based on the received instruction parameters and the received target vehicle position information, and feeds the above back to the on-board terminal. The on-board terminal has absolute takeover authority.

[0027] In a preferred embodiment, the flight decision is generated according to the drone hosting platform as follows:

[0028] Fixed speed following: the speed of the drone will be affected by the target vehicle and change with the speed of the target vehicle, and the speed of the drone will be adjusted according to the driving status of the target vehicle;

[0029] Focus following: when a cluster of vehicles appears, the drone will lock onto the target vehicle in the cluster through a preset screen, and the drone will automatically adjust its flight attitude and position to keep the target vehicle at a specific position or size in the screen;

[0030] Lag following: The drone predicts the future position of the target vehicle through motion estimation and trajectory prediction algorithms. Based on the target vehicle’s current speed, acceleration, direction and other information, it predicts the trajectory of the target vehicle in the future, thus achieving lagging following by the drone.

[0031] In a preferred solution, the drone status information and command transmission are connected to the vehicle-mounted terminal via wireless transmission signals, ensuring that the commands from the control terminal can be received and executed in real time, so that the owner or operator can perform a series of operations on the drone's take-off, landing, flight trajectory, spatial posture adjustment or shooting functions through the vehicle-mounted screen or remote control terminal.

[0032] In a preferred embodiment, the invention further includes a processor for processing the above instructions, and the processor executes the vehicle-mounted hosting platform to implement a method for guiding a vehicle-mounted accompanying UAV.

[0033] The technical effects achieved by the present invention are:

[0034] The present invention, by setting up a vehicle-mounted drone hosting platform, enables drones to respond quickly to various mission requirements, and can be flexibly deployed and explored in advance according to factors such as terrain and traffic. If in emergency situations, such as rescue and wildfire fighting, exploration tasks in large areas can be completed more quickly and autonomously;

[0035] In the present invention, the drone cooperates with the target vehicle to perform multiple following modes. For travel missions in complex areas, the drone can perform regional reconnaissance according to user needs, avoid or eliminate dangers that may be foreseen by the vehicle, and improve driving safety. Moreover, through the constructed hosting platform, the drone can fly autonomously and then feed back the captured images, which can omit the driver's real-time control of the drone and reduce dependence on manpower. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a structural schematic diagram of the process of the UAV vehicle-mounted accompanying flight system in the present invention;

[0037] Figure 2 It is a structural schematic diagram of the vehicle-mounted hosting platform in the present invention. DETAILED DESCRIPTION

[0038] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0039] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0040] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present invention. The phrase "in a preferred embodiment" that appears in different places in this specification does not refer to the same embodiment, nor is it a separate or selective embodiment that is mutually exclusive with other embodiments.

[0041] Secondly, the present invention is described in detail with reference to the schematic diagram. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0042] Please refer to the attached Figure 1 As shown, the present invention provides a guidance system based on a vehicle-mounted accompanying UAV, including

[0043] S1: The drone performs state calculation to determine whether the drone meets the take-off conditions, checks the drone's battery life, whether the communication link is stable, and whether the control command sending and receiving status are normal;

[0044] S2: The vehicle-mounted interactive platform transmits signals to the vehicle-mounted terminal, obtains the drone's location information and status in real time, and maps it to the vehicle-mounted terminal screen to maintain real-time interaction with the drone;

[0045] S3: The vehicle-mounted terminal obtains the normal flight information and dynamic flight information of the drone in real time, and according to the two-state information of the drone, the vehicle-mounted terminal can choose to take over or host it on the vehicle-mounted hosting platform;

[0046] S4: After the drone completes its flight, the control system will issue a landing command to guide the drone back to the preset landing point or the safe area designated by the vehicle. At the same time, the control system checks and records the status of the drone.

[0047] S101: If the drone does not meet the take-off conditions, the drone is in a pending state, or the vehicle terminal obtains flight authority and the operator controls the flight;

[0048] If the drone meets the take-off conditions, the control system will issue a command to drive the fixing / releasing mechanism to release the drone. After release, the drone will follow the vehicle or hover above the vehicle waiting to receive commands.

[0049] When the drone meets the flight conditions, it can choose to enter autonomous managed flight state or the operator can exercise flight authority to fly according to the preset flight trajectory or real-time instructions.

[0050] Specifically, during the flight, the drone will send real-time images, flight status and other data back to the vehicle screen or control terminal, and the owner or operator can view the drone's flight status, images and surrounding environment in real time through the screen. At the same time, the control system will continuously monitor the drone's flight status to ensure that it flies within a safe range and intervene or adjust when necessary.

[0051] See also Figure 1 S201: The vehicle-mounted interactive platform records the two-state data of the drone, and responds to the target vehicle in real time based on the recorded data combined with the algorithm, wherein:

[0052] Normal information includes: UAV status, payload, link establishment, situation, power and voltage, camera image feedback, pressure parameter information, high altitude environment parameters and UAV altitude parameters, and provides voice, keyboard, joystick and other input methods for human-machine interactive control;

[0053] Dynamic information includes: situational awareness, flight monitoring parameters, status monitoring parameters and data integration parameters, and the acquisition of the current position information of the UAV and the current position information of the target vehicle relative to the UAV, so that the on-board terminal can understand various information about the flight status of the UAV in real time.

[0054] S202: The dynamic information specifically includes:

[0055] Situational awareness: by integrating normal information data and integrating the UAV route, payload and link, the comprehensive UAV picture reconnaissance information is displayed on the terminal screen to make flight decisions;

[0056] Flight monitoring: comprehensive display and control of the UAV’s flight attitude, altitude, position and other information;

[0057] Status monitoring: Display and control information of optoelectronic, radar and other loads, as well as information of link status, channel, bandwidth, etc.;

[0058] Data fusion and comprehensive processing: Match and fuse the feedback information from the drone payload reconnaissance as input for situational awareness, as well as frame, parse and display the above data to the terminal.

[0059] See also Figure 2 , S301: The vehicle hosting platform includes:

[0060] Vehicle speed acquisition module: when a target vehicle appears under the drone, the drone and the vehicle interact in real time to obtain each other's speed information, so as to adjust or match the drone's speed in real time according to the terminal selection;

[0061] The receiving module receives the speed information of the UAV and the vehicle, and feeds it back to the vehicle terminal screen to generate the UAV accompanying flight decision;

[0062] The command output module outputs the command of the accompanying flight decision generated by the receiving module to the UAV. The UAV detects the driving status of the target vehicle through the built-in radar or laser sensor, and the UAV makes corresponding changes to the command to ensure that the relative position with the target object remains unchanged;

[0063] Feedback module: This module is responsible for receiving instructions and data, performing real-time calculations, and controlling the flight attitude and trajectory of the drone. The drone adjusts its flight speed and direction based on the received instruction parameters and the received target vehicle position information, and feeds the above back to the on-board terminal. The on-board terminal has absolute takeover authority.

[0064] S302, generating a flight decision based on the drone hosting platform as follows:

[0065] Fixed speed following: the speed of the drone will be affected by the target vehicle and change with the speed of the target vehicle, and the speed of the drone will be adjusted according to the driving status of the target vehicle;

[0066] When a target vehicle appears below the drone, the speed of the drone will be affected by the target vehicle and change with the speed of the target vehicle. At the same time, the drone needs to ensure that the relative distance between the drone and the target vehicle is within the safe vehicle spacing range to ensure driving safety. Specifically, the drone uses radar, laser sensors or other types of sensors to detect the driving status of the target vehicle, such as speed, distance and height, and automatically adjusts the speed of the drone based on this information to maintain a safe distance from the target vehicle and follow the speed and height.

[0067] Focus follow: When a cluster of vehicles appears, the drone will lock onto the target vehicle in the cluster through a preset screen. The drone will automatically adjust its flight attitude and position to keep the target vehicle at a specific position or size in the screen. The focus follow mode may be entered in multiple gears, and target locking and following settings can be performed through the image transmission page or remote control.

[0068] Lag following: The drone predicts the future position of the target vehicle through motion estimation and trajectory prediction algorithms. Based on the target vehicle’s current speed, acceleration, direction and other information, it predicts the trajectory of the target vehicle in the future, thus achieving lagging following by the drone.

[0069] Furthermore, the above three following modes can also be combined with vehicle-mounted navigation. The drone can preset the path by obtaining the route information of the vehicle-mounted navigation, and then match the speed of the target vehicle to achieve real-time following and autonomous flight according to the instructions of the vehicle-mounted terminal, and fully entrust the flight authority of the drone to the vehicle-mounted hosting platform.

[0070] The vehicle-mounted drone hosting platform enables drones to respond quickly to various mission requirements, and can be flexibly deployed and surveyed in advance based on factors such as terrain and traffic. In emergency situations, such as rescue and wildfire fighting, drones can complete large-area exploration tasks more quickly and autonomously. Drones cooperate with target vehicles to perform a variety of following modes. For travel tasks in complex areas, drones can perform regional reconnaissance according to user needs, avoid or eliminate dangers that may be foreseen by vehicles, and improve driving safety. In addition, through the hosting platform, drones can fly autonomously and then feedback the captured images, which can omit the driver's real-time control of the drone and reduce dependence on manpower.

[0071] S302: The UAV status information and command transmission are connected to the vehicle-mounted terminal via wireless transmission signals to ensure that the commands from the control terminal can be received and executed in real time, so that the owner or operator can perform a series of operations on the UAV's take-off, landing, flight trajectory, spatial posture adjustment or shooting functions through the vehicle-mounted screen or remote control terminal.

[0072] S5: The processor processes the above instructions, and the processor executes the vehicle-mounted hosting platform to implement the guidance method of the vehicle-mounted accompanying UAV.

[0073] The working principle of the present invention is as follows: the UAV first needs to identify and lock the target vehicle, which is usually accomplished through visual recognition, radar or other sensors, and then establish a data transmission link, that is, a stable data transmission link needs to be established between the UAV and the target object, which is mainly achieved through wireless communication technology, and then the relative positioning of the target vehicle and the UAV is performed. The UAV adjusts its flight path according to the position information received from the target vehicle. The UAV will adjust its flight speed and direction according to the preset flight parameters and the received target position information to ensure that the relative position with the target object remains unchanged, and adjust the position of the target vehicle and the UAV in real time and perform autonomous flight control. If the movement of the target object changes during this process, the UAV needs to make corresponding adjustments to maintain the accompanying flight. The UAV and the target maintain relative positions and always follow the movement of the ground target. At this time, the relative height, heading and horizontal position can be adjusted by the remote control joystick. In the following accompanying flight mode, the UAV remains directly above the target vehicle, and only the height and heading are adjustable. After takeoff, the relative position with the ground target is also maintained.

[0074] The above is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to the conventional means in the art unless otherwise specified and limited.

Claims

1. A guidance system based on a vehicle-mounted accompanying UAV, characterized in that: include: Determine whether the drone meets the take-off conditions; The vehicle-mounted interactive platform transmits signals to the vehicle-mounted terminal, obtains the drone's location information and status in real time, and maps it to the vehicle-mounted terminal screen, maintaining real-time interaction with the drone; The vehicle-mounted terminal obtains the normal flight information and dynamic flight information of the drone in real time, and according to the two-state information of the drone, the vehicle-mounted terminal can choose to take over or host it on the vehicle-mounted hosting platform; After the drone completes its flight, the control system will issue a landing command to guide the drone back to the preset landing point or the safe area designated by the vehicle. At the same time, the control system checks and records the status of the drone.

2. The guidance system based on a vehicle-mounted accompanying UAV according to claim 1, characterized in that: Obtain the drone's own parameters, including device status, flight path acquisition, and flight environment judgment; Acquiring environmental parameters, wherein the environmental parameters include complex environment areas, no-fly zones, and controlled airspaces; Determine whether take-off conditions are met based on its own parameters and environmental parameters; According to the above, the drone's own parameters also include some basic information, including but not limited to the drone's model, weight, battery capacity, flight time, maximum flight altitude, maximum flight speed, and key information such as the performance of its sensors. These parameters are crucial to ensuring the safety and reliability of the drone when performing its mission. When the drone is ready to take off, it will be informed in advance through the Internet of Things whether the drone's pre-flight airspace belongs to controlled airspace, special activity areas, or no-fly zones clearly stipulated by laws and regulations. In addition, the judgment of complex environmental areas mainly comes from the judgment of the topography, building distribution, and crowd density of the drone's flight area. The drone's flight altitude needs to be adjusted in a timely manner to adapt to the above factors. Secondly, after obtaining the drone's own parameters and environmental parameters, the next step is to comprehensively judge whether the drone has the conditions for takeoff based on these parameters. Specifically, we need to evaluate whether the drone's performance can meet the requirements of the current environment, such as whether the battery capacity is sufficient to support the flight time, whether the flight speed is suitable for complex terrain, and whether it is in a no-fly zone. Only when the drone's own parameters and environmental parameters meet the takeoff conditions can we proceed to the next step of flight operations to ensure the safe flight of the drone and the smooth completion of the mission. If the drone does not meet the take-off conditions, it will be in a pending state, or the vehicle terminal will obtain flight permission and the operator will control the flight; If the drone meets the take-off conditions, the control system will issue a command to drive the fixing / releasing mechanism to release the drone. After release, the drone will follow the vehicle or hover above the vehicle waiting to receive commands. When the drone meets the flight conditions, it can choose to enter autonomous managed flight state or the operator can exercise flight authority to fly according to the preset flight trajectory or real-time instructions. According to claim 1, a guidance system based on a vehicle-mounted accompanying UAV is characterized in that: the vehicle-mounted interactive platform records the two-state data of the UAV, and responds to the target vehicle in real time based on the recorded data combined with the algorithm, wherein: If the drone is in a flyable state in a complex flight area, it will be informed that: The current vehicle route is located in a complex area and the flight range in the area; Determine the flight path of the drone based on the range, and judge the battery life based on the flight path; If the battery life meets the guidance requirements, the take-off conditions are determined to be met. If not, the flight status is temporarily set and the flight authority is taken over by the operator. According to the above, the two-state data in this application include normal information and dynamic information. The normal information includes: UAV status, payload, link establishment, status, power voltage, lens image feedback, pressure parameter information, high-altitude environment parameters and UAV altitude parameters, and provides voice, keyboard, joystick and other input methods for human-computer interaction control; dynamic information includes: situation awareness, flight monitoring parameters, status monitoring parameters and data integration parameters, and obtains the current position information of the UAV and the current position information of the target vehicle relative to the UAV, so that the on-board terminal can understand various information about the flight status of the UAV in real time.

3. The guidance system based on a vehicle-mounted accompanying UAV according to claim 2 is characterized in that: When the car route is in a complex area: Obtaining route status, where the route status includes unmanned area, manned area, and residential area; Adjust the low-position camera and high-position camera modes according to the route status, wherein the modes include coding mode and normal mode; When the drone is flying at a low altitude, the low-position camera is started to capture the close-up view. During this process, the coding area and parameters are set through the drone remote controller or software, and the coding is processed in real time during the shooting process; When the UAV is flying at a high altitude, start the high-position camera for global monitoring and real-time data collection. At this time, the high-position camera is needed to capture global information, and the camera mode can be adjusted to normal mode.

4. The guidance system based on a vehicle-mounted accompanying UAV according to claim 3 is characterized in that: When the drone is flying at a low altitude in a complex area, the drone uses the built-in laser radar to fuse with its internal sensor data for posture recognition. The sensor data fusion is as follows: Attitude calculation: convert sensor data into drone attitude information, update the drone attitude information in real time, and provide accurate feedback for attitude control; PID control algorithm: calculates the deviation between the current posture and the target posture, and generates control instructions based on the proportion, integration and differentiation of the deviation; Adaptive control algorithm: automatically adjusts control parameters according to the flight status of the drone and changes in the external environment, and adjusts the drone's flight posture in a timely manner based on the distance feedback between the lidar and the target. Based on the above, UAV attitude recognition includes situational awareness, which is achieved by fusing normal information data and integrating the UAV route, payload and link, and displaying the comprehensive UAV picture reconnaissance information on the terminal screen to make flight decisions; flight monitoring: comprehensive display and control of the UAV flight attitude, altitude, position and other information, and fusion processing of the above data, matching and fusion of the feedback information of the UAV payload reconnaissance as the input of situational awareness, as well as framing, parsing and displaying the above data to the terminal. Among them, the built-in sensing algorithm of the drone is any one or more combinations of Kalman filtering, extended Kalman filtering, and particle filtering. These algorithms can make optimal estimates of the data based on the error model and system model of the sensor data, thereby obtaining more accurate attitude information.

5. The guidance system based on a vehicle-mounted accompanying UAV according to claim 1, characterized in that: The vehicle hosting platform includes: Vehicle speed acquisition module: when a target vehicle appears under the drone, the drone and the vehicle interact in real time to obtain each other's speed information, so as to adjust or match the drone's speed in real time according to the terminal selection; The receiving module receives the speed information of the UAV and the vehicle, and feeds it back to the vehicle terminal screen to generate the UAV accompanying flight decision; The command output module outputs the command of the accompanying flight decision generated by the receiving module to the UAV. The UAV detects the driving status of the target vehicle through the built-in radar or laser sensor, and the UAV makes corresponding changes to the command to ensure that the relative position with the target object remains unchanged; Feedback module: This module is responsible for receiving instructions and data, performing real-time calculations, and controlling the flight attitude and trajectory of the drone. The drone adjusts its flight speed and direction based on the received instruction parameters and the received target vehicle position information, and feeds the above back to the on-board terminal. The on-board terminal has absolute takeover authority.

6. The guidance system based on a vehicle-mounted accompanying UAV according to claim 1, characterized in that: The flight decision generated according to the drone hosting platform is as follows: Start the low-position camera to follow the vehicle, perform license plate recognition and monitoring, monitor the vehicle's driving dynamics in real time, and make flight plans such as fixed-speed following, focus following or lagging following; Fixed speed following: the speed of the drone is affected by the target vehicle and changes with the speed of the target vehicle. The drone speed is adjusted according to the driving status of the target vehicle. Focus following: when a cluster of vehicles appears, the drone will lock onto the target vehicle in the cluster through a preset screen, and the drone will automatically adjust its flight attitude and position to keep the target vehicle at a specific position or size in the screen; Lag following: The drone predicts the future position of the target vehicle through motion estimation and trajectory prediction algorithms. Based on the target vehicle’s current speed, acceleration, direction and other information, it predicts the trajectory of the target vehicle in the future, thus achieving lagging following by the drone. According to the above, when a drone is bound to a vehicle, by uploading vehicle pictures or graphics or vehicle features such as vehicle model and license plate number to the drone, the drone automatically searches for the vehicle by analyzing the uploaded features during the following process. Through the pre-bound information, when a vehicle cluster appears, the drone can lock onto the target vehicle in the vehicle cluster.

7. The guidance system based on a vehicle-mounted accompanying UAV according to claim 1, characterized in that: The drone status information and command transmission are connected to the vehicle-mounted terminal through wireless transmission signals, ensuring that the commands from the control terminal can be received and executed in real time, so that the owner or operator can perform a series of operations such as the drone's take-off, landing, flight trajectory, spatial posture adjustment or shooting functions through the vehicle-mounted screen or remote control terminal.

8. The guidance system based on a vehicle-mounted accompanying UAV according to claim 7, characterized in that: It also includes a processor for processing the above instructions, and the processor executes the vehicle-mounted hosting platform to implement the guidance method of the vehicle-mounted accompanying drone according to any one of claims 1 to 6.

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