Low-altitude airspace spectrum monitoring analysis system and monitoring analysis method

Abstract

The invention provides a low-altitude airspace spectrum monitoring and analyzing system and a monitoring and analyzing method. The low-altitude airspace spectrum monitoring and analyzing system comprises an air monitoring subsystem, a data transmission subsystem, a ground monitoring subsystem, a data processing and analyzing subsystem and a display and interaction subsystem. According to the invention, air and ground integrated frequency spectrum monitoring is realized by integrating air and ground monitoring and data transmission, processing analysis and display interaction subsystems. The air subsystem covers a low-altitude blind area, the ground subsystem supplements ground data, data transmission ensures information intercommunication, the processing analysis subsystem deeply mines data values, and the display interaction subsystem visually presents a result, so that the problem of insufficient coverage of traditional ground monitoring is solved, data acquisition comprehensiveness and accuracy are improved, and data acquisition efficiency is improved. And comprehensive support is provided for low-altitude spectrum management, interference positioning and the like.

Description

Technical Field

[0001] This invention relates to the field of low-altitude airspace spectrum monitoring technology, and in particular to a low-altitude airspace spectrum monitoring and analysis system and monitoring and analysis method. Background Technology

[0002] Spectrum resources, as the core carrier of wireless communication, are limited in total. With the widespread application of emerging wireless communication systems, spectrum resources are becoming increasingly scarce, especially in the low-altitude communication field, where frequency band usage presents a complex and ever-changing situation. The low-altitude area is a convergence zone for various services such as aviation communication, drone communication, and terrestrial wireless communication. Different communication systems and user groups compete for spectrum resources here: aviation communication relies on stable frequency bands to ensure flight safety and scheduling; drone communication experiences a surge in frequencies due to applications such as agricultural plant protection and logistics delivery; and signals from terrestrial wireless communication equipment (such as mobile phone base stations and wireless LANs) also intertwine here. Multiple signals are prone to interference and frequency band conflicts, affecting network operation and the rational utilization of spectrum resources.

[0003] Spectrum monitoring and analysis systems can acquire spectrum usage data, providing a scientific basis for spectrum planning and allocation, alleviating resource shortages, and improving utilization efficiency. In the field of low-altitude communication, it can ensure the normal operation of the network, make rational use of spectrum resources, and promptly detect illegal signals and interference, resulting in significant market demand in defense, public safety, emergency rescue, and scientific research testing. With the development of wireless communication systems and the increasing complexity of low-altitude services, low-altitude electromagnetic environment spectrum monitoring is becoming increasingly important.

[0004] Existing technologies have significant drawbacks: Patent CN111965423B's ground flight control relies on external equipment, requiring collaborative completion of UAV flight control and route planning. If data acquisition is incomplete or signal interference occurs, it cannot autonomously adjust the route in real time, necessitating manual intervention to reset the task. This results in low data acquisition efficiency, easy omission of key areas, and difficulty in guaranteeing accuracy and comprehensiveness. Neither patents CN111965423B nor CN116953356A integrate video data into spectrum monitoring data. However, video footage can directly present the physical location of transmitting equipment in areas with abnormal signals, aiding in rapid and accurate positioning. Patent CN111965423B has a limited function, focusing only on interference source location and not addressing multi-standard communication network signal analysis or network performance analysis, thus limiting its application in complex low-altitude electromagnetic monitoring scenarios. Patent CN116953356A uses satellite transmission for air-to-ground data, with a one-way transmission delay of up to 250-500ms, resulting in severe data lag. Furthermore, satellite transmission bandwidth is limited, and the compressed transmission of raw spectrum data is prone to losing signal details. It only presents radio spectrum signals in three dimensions, without establishing logical relationships between data, and lacks the ability to perform spatial three-dimensional spectrum data correlation analysis. Summary of the Invention

[0005] The purpose of this invention is to provide a low-altitude airspace spectrum monitoring and analysis system and method to achieve dynamic and comprehensive spectrum monitoring of the low-altitude airspace, improve data acquisition efficiency and accuracy, integrate multi-source data to achieve rapid interference location, support multi-mode communication signal analysis and network performance analysis, and meet the monitoring needs of complex low-altitude electromagnetic environments.

[0006] According to one objective of the present invention, a low-altitude airspace spectrum monitoring and analysis system is provided, comprising an airborne monitoring subsystem, a data transmission subsystem, a ground monitoring subsystem, a data processing and analysis subsystem, and a display and interaction subsystem; wherein: The aerial monitoring subsystem includes an unmanned aerial vehicle (UAV) platform and airborne spectrum monitoring equipment, used to collect electromagnetic environment data and video data in low-altitude airspace; The data transmission subsystem includes an airborne data transmission device and a ground data transmission device. The airborne data transmission device is located on the UAV platform and is used to transmit the data collected by the airborne monitoring subsystem to the ground data transmission device. The ground data transmission device is connected to the data processing and analysis subsystem. The ground monitoring subsystem includes a ground spectrum monitoring device for collecting electromagnetic environment data on the ground side and transmitting the data to the data processing and analysis subsystem. The data processing and analysis subsystem comprises a data receiving and preprocessing module, an intelligent analysis module, an equipment management module, and a data storage and management module. It is used to receive data collected by the aerial monitoring subsystem and the ground monitoring subsystem, and to process, correlate, and analyze the data. The display and interaction subsystem includes a real-time monitoring data display module, an intelligent analysis module, a log playback module, an operation control module, and a configuration module. It is used to configure monitoring parameters, perform flight control operations, statistically analyze and display real-time monitoring data in multiple dimensions, and support spectrum data playback.

[0007] Furthermore, the data transmission subsystem adopts a 1.4GHz band point-to-point bidirectional transmission protocol, a custom data packet format, and supports breakpoint resumption.

[0008] Furthermore, the airborne spectrum monitoring equipment distinguishes and analyzes multiple signals within the same or adjacent frequency bands through phase noise suppression and multi-signal separation algorithms.

[0009] Furthermore, the intelligent analysis module performs multi-domain collaborative analysis to analyze multiple communication standards such as 5G NR, LTE, and GSM in parallel.

[0010] Furthermore, the intelligent analysis module determines the geographical location of the signal source by using at least two fusion techniques among TDOA, AOA, received signal strength, and frequency difference.

[0011] Furthermore, the data storage and management module adopts a "time-latitude-longitude-spectrum-video" associated storage structure to associate and store measurement results, video data, and BeiDou positioning information.

[0012] Furthermore, when replaying spectrum data, the log playback module supports drawing spectrum diagrams or waterfall diagrams from a spatial perspective.

[0013] Furthermore, as the UAV moves, the display and interaction subsystem overlays and renders the collected spectrum data with the electromagnetic situation heat map and the UAV's flight path, presenting the sampled data in real time and from multiple dimensions.

[0014] According to another objective of the present invention, the present invention provides a method for monitoring and analyzing the spectrum of low-altitude airspace, comprising the following steps: S1. Configure monitoring parameters: Set the monitoring frequency band and communication standard parameters through the configuration module of the display and interaction subsystem; S2. Flight Route Planning and Data Acquisition: The operation control module of the display and interaction subsystem plans the flight route of the UAV. The UAV platform of the aerial monitoring subsystem is equipped with airborne spectrum monitoring equipment and aerial data transmission equipment to collect electromagnetic environment data and video data in the low-altitude airspace. At the same time, the ground spectrum monitoring equipment of the ground monitoring subsystem collects electromagnetic environment data on the ground side. S3. Data transmission: The airborne data transmission equipment transmits the data collected by the airborne monitoring subsystem to the ground data transmission equipment via a 1.4GHz point-to-point bidirectional transmission protocol. The ground data transmission equipment then sends the data to the data processing and analysis subsystem. S4. Data Processing and Analysis: The receiving and preprocessing module of the data processing and analysis subsystem preprocesses the received data. The intelligent analysis module analyzes multi-mode communication signals through multi-domain collaborative analysis and uses TDOA and AOA fusion technology to locate the signal source. At the same time, it associates spectrum data, video data, and BeiDou positioning information. S5. Data Display and Interaction: The real-time display module of the display and interaction subsystem displays the processed data analysis results in a multi-dimensional manner, using an electromagnetic situation heatmap and track overlay. The log playback module plays back spectrum data and supports drawing spectrum maps or waterfall charts by airspace.

[0015] Furthermore, in step S2, if data transmission is interrupted, the data transmission subsystem resumes data transmission by resuming interrupted transmission; in step S5, if the display and interaction subsystem finds that the data collection is incomplete, it autonomously adjusts the UAV flight path and re-collects data through the operation control module.

[0016] This invention integrates airborne and ground-based monitoring, data transmission, processing and analysis, and display / interactive subsystems to achieve integrated air-ground spectrum monitoring. The airborne subsystem covers low-altitude blind spots, the ground-based subsystem supplements ground data, data transmission ensures information exchange, the processing and analysis subsystem deeply mines data value, and the display / interactive subsystem intuitively presents results. This solves the problem of insufficient coverage in traditional ground-based monitoring, improves the comprehensiveness and accuracy of data collection, and provides comprehensive support for low-altitude spectrum management and interference localization. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is an architecture diagram of the low-altitude airspace spectrum monitoring and analysis system according to an embodiment of the present invention. Detailed Implementation

[0019] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0021] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. Furthermore, the terms "installed," "connected," and "linked" should be interpreted broadly; for example, they may refer to a fixed connection, a detachable connection, or an integral connection; they may refer to a mechanical connection or an electrical connection; they may refer to a direct connection or an indirect connection through an intermediate medium; and they may refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0022] Example 1 like Figure 1 As shown, a low-altitude airspace spectrum monitoring and analysis system includes an airborne monitoring subsystem, a data transmission subsystem, a ground monitoring subsystem, a data processing and analysis subsystem, and a display and interaction subsystem; wherein: The aerial monitoring subsystem is connected to the data transmission subsystem, the ground monitoring subsystem is connected to the data processing and analysis subsystem, the data transmission subsystem is connected to the data processing and analysis subsystem, and the data processing and analysis subsystem is connected to the display and interaction subsystem. The airborne monitoring subsystem is used to collect electromagnetic environment data in low-altitude airspace, the ground monitoring subsystem is used to collect electromagnetic environment data on the ground side, the data transmission subsystem is used to transmit the data collected by the airborne monitoring subsystem, the data processing and analysis subsystem is used to process and analyze the collected data, and the display and interaction subsystem is used to display the data and perform interactive operations.

[0023] The aerial monitoring subsystem includes an unmanned aerial vehicle (UAV) platform and airborne spectrum monitoring equipment. The UAV platform carries the airborne spectrum monitoring equipment. The airborne spectrum monitoring equipment distinguishes and analyzes multiple signals within the same or adjacent frequency bands through phase noise suppression and multi-signal separation algorithms.

[0024] The aerial monitoring subsystem also includes camera equipment, which is mounted on the drone platform and used to collect video data in low-altitude airspace.

[0025] The data transmission subsystem includes airborne data transmission equipment and ground-based data transmission equipment. The airborne data transmission equipment is located on the UAV platform, and the ground-based data transmission equipment is connected to the data processing and analysis subsystem.

[0026] The data transmission subsystem adopts a point-to-point bidirectional transmission protocol in the 1.4GHz band. The data transmission subsystem supports custom data packet formats and resume interrupted transmission.

[0027] The ground monitoring subsystem includes ground spectrum monitoring equipment, which is used to collect electromagnetic environment data on the ground side and transmit the data to the data processing and analysis subsystem.

[0028] The data processing and analysis subsystem includes a data receiving and preprocessing module, an intelligent analysis module, an equipment management module, and a data storage and management module.

[0029] The intelligent analysis module, through multi-domain collaborative analysis, can analyze signals from at least two communication standards, including 5G NR, LTE, and GSM, in parallel. It determines the geographical location of the signal source using at least two fusion techniques among TDOA, AOA, received signal strength, and frequency difference.

[0030] The data storage and management module adopts a "time-latitude and longitude-spectrum-video" associated storage structure.

[0031] The display and interaction subsystem includes a real-time monitoring data display module, an intelligent analysis module, a log playback module, an operation control module, and a configuration module.

[0032] The log playback module supports drawing spectrum diagrams or waterfall plots from an airspace perspective when playing back spectrum data. The real-time monitoring data display module can overlay and render spectrum data with electromagnetic situation heatmaps and UAV flight paths, presenting sampled data in real-time and from multiple dimensions. The operation and control module can autonomously adjust the UAV's flight path.

[0033] The analysis method of the aforementioned low-altitude airspace spectrum monitoring and analysis system includes the following steps: S1: The airborne monitoring subsystem collects electromagnetic environment data in the low-altitude airspace; S2: The ground monitoring subsystem collects electromagnetic environment data from the ground side; S3: The data transmission subsystem transmits the data collected by the airborne monitoring subsystem to the data processing and analysis subsystem; S4: The data processing and analysis subsystem processes and analyzes the collected data; S5: The display and interaction subsystem displays the processed data analysis results and allows for interactive operations.

[0034] Specifically, in step S1, the aerial monitoring subsystem simultaneously collects video data, and in step S4, the data processing and analysis subsystem associates the video data with the spectrum data.

[0035] In step S3, if data transmission is interrupted, the data transmission subsystem resumes data transmission by resuming interrupted transmission.

[0036] In step S5, if the display and interaction subsystem detects incomplete data collection, it will autonomously adjust the flight path of the UAV so that the aerial monitoring subsystem can re-collect data for the corresponding area.

[0037] In step S4, the data processing and analysis subsystem analyzes multi-mode communication signals through multi-domain collaborative analysis and generates an electromagnetic situation heat map; in step S5, the display and interaction subsystem overlays the electromagnetic situation heat map with the UAV flight path for display.

[0038] Example 2 like Figure 1 As shown, the structure of this embodiment is basically the same as that of Embodiment 1. The difference is that the low-altitude airspace spectrum monitoring and analysis system in this embodiment includes an airborne monitoring subsystem, a data transmission subsystem, a ground monitoring subsystem, a data processing and analysis subsystem, and a display and interaction subsystem. The monitoring and analysis method of the low-altitude airspace spectrum monitoring and analysis system includes the following steps: Configure monitoring parameters: Through the configuration module of the display and interaction subsystem, set the monitoring frequency band and communication standard parameters, such as setting the monitoring object to a 5G NR cell, the monitoring frequency band to 3.5GHz, and the strongest pilot number = 3; Flight route planning and data acquisition: The operation control module of the display and interaction subsystem plans the flight route of the UAV over a certain area of ​​the city. The airborne spectrum monitoring equipment on the UAV platform begins to collect electromagnetic environment data of the low-altitude airspace, while the high-definition camera collects video data of the area it passes through; the ground spectrum monitoring equipment of the ground monitoring subsystem simultaneously collects 5G NR signal data on the ground side. Data transmission: The airborne data transmission equipment sends the collected electromagnetic environment data, video data, and BeiDou positioning information (time, latitude and longitude) to the ground data transmission equipment via a 1.4GHz point-to-point bidirectional transmission protocol. The ground data transmission equipment then forwards the data to the data processing and analysis subsystem. If the transmission is interrupted due to signal blockage, the data transmission subsystem resumes the transmission through the breakpoint resume function to ensure data integrity. Data Processing and Analysis: The data receiving and preprocessing module of the data processing and analysis subsystem filters and reduces noise in the data; the intelligent analysis module analyzes parameters such as PSS RP and SSS CINR of 5G NR signals through multi-domain collaborative analysis, and associates the parameters with video data and latitude and longitude information; it uses TDOA and AOA fusion technology to locate potential interference sources; the data storage and management module stores data in a "time-latitude and longitude-spectrum-video" structure. Data Display and Interaction: The real-time monitoring data display module of the display and interaction subsystem overlays 5G NR signal parameters and interference source locations onto an electronic map to generate a 3D heat map of pilot pollution, marking airspace areas with pollution rates >15%; the log playback module supports drawing a spectrum waterfall plot of the area from a spatial perspective, facilitating the analysis of signal change trends; if the display and interaction subsystem detects missing data in a certain area, it autonomously controls a drone to return to that area to re-collect data, ensuring data integrity; finally, it generates a coverage analysis report (including cell interference distribution) and 3D visualization results.

[0039] Through the above embodiments, the present invention realizes dynamic monitoring of low-altitude airspace spectrum, multi-source data fusion analysis and accurate interference location, effectively solving the defects of the prior art.

[0040] The technical solution of this invention has strong airspace dynamic monitoring capabilities, does not rely on external equipment, and the display and interaction subsystem can directly and autonomously control the flight path of the UAV, plan the flight path in real time, and command the UAV to return to a specific area to re-collect data when the data collection is incomplete, thus ensuring the accuracy and comprehensiveness of the data collection. The technical solution of this invention has excellent multi-source data fusion effect. It aligns spectrum data, UAV pose, and high-definition video in time and space, and outputs an electromagnetic feature database with geographic tags, which is convenient for intuitive display, in-depth analysis and problem tracing. The technical solution of this invention provides comprehensive analysis of multiple signal standards. Through multi-domain collaborative analysis, it can analyze multiple communication standards such as 5G NR, LTE, and GSM in parallel, and comprehensively monitor the network performance of different communication standards. The technical solution of this invention provides accurate and rapid interference localization. It employs multiple fusion technologies such as TDOA, AOA, received signal strength, and frequency difference to quickly and accurately determine the geographical location of the signal source. The technical solution of this invention provides multi-dimensional network analysis, allowing for the setting of different analysis angles to perform statistical analysis on data such as network coverage, interference, and neighboring cells. This enables multi-dimensional diagnosis of network health status and early detection of areas with weak signal coverage and potential interference sources.

[0041] This invention relates to a three-dimensional dynamic monitoring system and method for electromagnetic environment and communication quality based on an unmanned aerial vehicle (UAV) platform. It is applicable to spectrum management, interference localization, and network performance evaluation in low-altitude communication blind spots over urban areas, overcoming the technical bottleneck of traditional ground-based monitoring's inability to cover low-altitude airspace. The system supports full-band scanning of multiple communication standards and achieves dynamic perception of the low-altitude electromagnetic situation through an integrated air-ground architecture, providing spectrum management and interference localization capabilities for urban air traffic, emergency communications, and other scenarios.

[0042] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A low-altitude airspace spectrum monitoring and analysis system, characterized in that, It includes an aerial monitoring subsystem, a data transmission subsystem, a ground monitoring subsystem, a data processing and analysis subsystem, and a display and interaction subsystem; among which: The aerial monitoring subsystem includes an unmanned aerial vehicle (UAV) platform and airborne spectrum monitoring equipment, used to collect electromagnetic environment data and video data in low-altitude airspace; The data transmission subsystem includes an airborne data transmission device and a ground data transmission device. The airborne data transmission device is located on the UAV platform and is used to transmit the data collected by the airborne monitoring subsystem to the ground data transmission device. The ground data transmission device is connected to the data processing and analysis subsystem. The ground monitoring subsystem includes a ground spectrum monitoring device for collecting electromagnetic environment data on the ground side and transmitting the data to the data processing and analysis subsystem. The data processing and analysis subsystem comprises a data receiving and preprocessing module, an intelligent analysis module, an equipment management module, and a data storage and management module. It is used to receive data collected by the aerial monitoring subsystem and the ground monitoring subsystem, and to process, correlate, and analyze the data. The display and interaction subsystem includes a real-time monitoring data display module, an intelligent analysis module, a log playback module, an operation control module, and a configuration module. It is used to configure monitoring parameters, perform flight control operations, statistically analyze and display real-time monitoring data in multiple dimensions, and support spectrum data playback.

2. The low-altitude airspace spectrum monitoring and analysis system according to claim 1, characterized in that, The data transmission subsystem adopts a 1.4GHz band point-to-point bidirectional transmission protocol, a custom data packet format, and supports breakpoint resumption.

3. The low-altitude airspace spectrum monitoring and analysis system according to claim 1, characterized in that, The airborne spectrum monitoring equipment distinguishes and analyzes multiple signals within the same or adjacent frequency bands through phase noise suppression and multi-signal separation algorithms.

4. The low-altitude airspace spectrum monitoring and analysis system according to claim 1, characterized in that, The intelligent analysis module performs multi-domain collaborative analysis and parallel analysis of signals from multiple communication standards, including 5G NR, LTE, and GSM.

5. The low-altitude airspace spectrum monitoring and analysis system according to claim 1, characterized in that, The intelligent analysis module determines the geographical location of the signal source by using at least two fusion techniques among TDOA, AOA, received signal strength, and frequency difference.

6. The low-altitude airspace spectrum monitoring and analysis system according to claim 1, characterized in that, The data storage and management module adopts a "time-latitude-longitude-spectrum-video" associated storage structure to store measurement results, video data, and BeiDou positioning information together.

7. The low-altitude airspace spectrum monitoring and analysis system according to claim 1, characterized in that, When replaying spectrum data, the log playback module supports drawing spectrum diagrams or waterfall diagrams from a spatial perspective.

8. The low-altitude airspace spectrum monitoring and analysis system according to claim 1, characterized in that, As the UAV moves, the display and interaction subsystem overlays and renders the collected spectrum data with the electromagnetic situation heat map and the UAV's flight path, presenting the sampled data in real time and from multiple dimensions.

9. The monitoring and analysis method of the low-altitude airspace spectrum monitoring and analysis system according to any one of claims 1-8, characterized in that, Includes the following steps: S1. Configure monitoring parameters: Set the monitoring frequency band and communication standard parameters through the configuration module of the display and interaction subsystem; S2. Flight Route Planning and Data Acquisition: The operation control module of the display and interaction subsystem plans the flight route of the UAV. The UAV platform of the aerial monitoring subsystem is equipped with airborne spectrum monitoring equipment and aerial data transmission equipment to collect electromagnetic environment data and video data in the low-altitude airspace. At the same time, the ground spectrum monitoring equipment of the ground monitoring subsystem collects electromagnetic environment data on the ground side. S3. Data transmission: The airborne data transmission equipment transmits the data collected by the airborne monitoring subsystem to the ground data transmission equipment via a 1.4GHz point-to-point bidirectional transmission protocol. The ground data transmission equipment then sends the data to the data processing and analysis subsystem. S4. Data Processing and Analysis: The receiving and preprocessing module of the data processing and analysis subsystem preprocesses the received data. The intelligent analysis module analyzes multi-mode communication signals through multi-domain collaborative analysis and uses TDOA and AOA fusion technology to locate the signal source. At the same time, it associates spectrum data, video data, and BeiDou positioning information. S5. Data Display and Interaction: The real-time display module of the display and interaction subsystem displays the processed data analysis results in a multi-dimensional manner, using an electromagnetic situation heatmap and track overlay. The log playback module plays back spectrum data and supports drawing spectrum maps or waterfall charts by airspace.

10. The monitoring and analysis method according to claim 9, characterized in that, In step S2, if data transmission is interrupted, the data transmission subsystem resumes data transmission by resuming interrupted transmission; in step S5, if the display and interaction subsystem finds that the data collection is incomplete, it autonomously adjusts the UAV flight path and re-collects data through the operation control module.

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