Unmanned aerial vehicle, remote monitoring platform thereof, information uploading method thereof and monitoring method thereof

Abstract

An unmanned aerial vehicle, a remote monitoring platform thereof, an information uploading method thereof, and a monitoring method thereof, the information uploading method of the unmanned aerial vehicle comprising: generating position information according to a plurality of reference points; and uploading the position information to the remote monitoring platform. Each reference point has a number and a predicted coordinate, and the step of generating the position information according to the plurality of reference points comprises: selecting selected reference points with similar or identical predicted coordinates to positioning coordinates from the plurality of reference points; and generating position information with the numbers of the selected reference points in response to the selected reference points.

Description

Technical Field

[0001] This invention relates to monitoring technology for unmanned aerial vehicles, and in particular to an unmanned aerial vehicle, its remote monitoring platform, its information uploading method, and its monitoring method. Background Technology

[0002] Small unmanned aerial vehicles (UAVs) can be divided into short-range, medium-range, and long-range UAVs. Short-range and medium-range UAVs are commonly used in logistics transportation and / or security monitoring.

[0003] Taking drones as an example, in a drone system architecture, the remote monitoring platform controls the drone to fly to its destination based on the user-provided location. During flight, the drone continuously transmits real-time GPS (Global Positioning System) location information to the base station via an NB-IoT (Narrowband Internet of Things) module. The base station then transmits the received GPS location information to the remote monitoring platform via the NB-IoT transmission protocol. Finally, the remote monitoring platform stores the received GPS location information in a database. Therefore, users can track the drone's location in real time by viewing the data stored on the remote monitoring platform. Summary of the Invention

[0004] However, short-range and medium-range UAVs have high requirements for power efficiency. Furthermore, NB-IoT (Narrowband Internet of Things) charges based on the amount of data transmitted. If the data limit is exceeded, the charge is calculated in kilobytes (KB).

[0005] In view of this, the present invention provides an unmanned aerial vehicle, its remote monitoring platform, its information uploading method and monitoring method, which significantly reduces the data length in the transmission packets, thereby effectively reducing the amount of data transmitted, thereby reducing data transmission time and saving the power consumption of the device.

[0006] In some embodiments, a method for uploading information from an unmanned aerial vehicle includes: generating location information based on multiple reference points; and uploading the location information to a remote monitoring platform. Each reference point has a number and predicted coordinates, and the step of generating location information based on multiple reference points includes: selecting selected reference points from the multiple reference points whose predicted coordinates are similar to or identical to their positioning coordinates; and generating location information with the selected reference point's number in response to the selected reference point.

[0007] The predicted coordinates of multiple reference points are points on the expected flight path of the unmanned aerial vehicle and are determined based on a predetermined flight speed and upload frequency of the unmanned aerial vehicle.

[0008] The selection of the selected reference point includes obtaining the current position coordinates of the unmanned aerial vehicle; selecting the reference point with the highest data similarity between the predicted coordinates and the position coordinates from multiple reference points by comparing the position coordinates with the predicted coordinates of multiple reference points; and generating the position information based on the number of the selected reference point and the coordinate difference between the predicted coordinates and the position coordinates of the selected reference point.

[0009] In some embodiments, the positioning coordinates are the same as the predicted coordinates of the selected reference point, and the location information contains only the data of the selected reference point number but no data of coordinate difference from the positioning coordinates.

[0010] In some embodiments, the positioning coordinates differ from the predicted coordinates of the selected reference point, and the coordinate difference consists of a distinguishing character and multiple difference bits between the predicted coordinates and the positioning coordinates.

[0011] In some embodiments, the highest data similarity is achieved when multiple bits of the predicted coordinates and multiple bits of the location coordinates are compared sequentially from left to right among multiple reference points, starting from the first different bit that is compared.

[0012] In some embodiments, the aforementioned step of selecting the selected reference point includes: calculating the difference data between the predicted coordinates and the positioning coordinates of each reference point based on the positioning coordinates and the predicted coordinates of multiple reference points; and selecting the reference point with the largest difference data from the multiple reference points as the selected reference point.

[0013] In some embodiments, the aforementioned step of selecting the selected reference point is implemented using the following formula:

[0014]

[0015] Where L represents the largest number, n represents the number of the reference point being calculated and is one of multiple reference point numbers, i represents the decimal digit number, and U n bit iRepresents the i-th bit in the positioning coordinates, and R n bit i This represents the i-th bit in the predicted coordinates of the nth reference point out of multiple reference points.

[0016] In some embodiments, the aforementioned step of generating location information includes: calculating the similarity between the predicted coordinates and the location coordinates of the selected reference point; and responding to the similarity between the predicted coordinates and the location coordinates, calculating the coordinate difference and generating location information with the number of the selected reference point, the distinguishing character, and the coordinate difference.

[0017] In some embodiments, the aforementioned similarity calculation steps are implemented using the following formula:

[0018]

[0019] Where S represents the similarity, m represents the sequence number of the upload time point corresponding to the currently calculated positioning coordinates, l represents the number of the selected reference point, and i represents the decimal number, U2bit i Represents the i-th bit in the positioning coordinates, and R l bit i S represents the i-th bit in the predicted coordinates of the selected reference point, and P represents the decimal bit number of the selected reference point's number. S equal to or greater than zero indicates that the predicted coordinates are similar to the positioning coordinates.

[0020] In some embodiments, the information uploading method for unmanned aerial vehicles further includes: receiving a destination change signal; generating and uploading location information again in response to the destination change signal; receiving reference point update information from a remote monitoring platform; and updating multiple stored reference points with the reference point update information.

[0021] In some embodiments, a method for monitoring an unmanned aerial vehicle includes: generating multiple reference points based on the expected flight path of the unmanned aerial vehicle; storing the generated multiple reference points; sending the multiple reference points to the unmanned aerial vehicle; receiving location information uploaded by the unmanned aerial vehicle; and obtaining the positioning coordinates of the unmanned aerial vehicle using the numbers in the location information and the stored multiple reference points.

[0022] Among them, multiple reference points are points on the expected flight path and are determined based on the unmanned aerial vehicle's predetermined flight speed and upload frequency.

[0023] In some embodiments, the aforementioned step of obtaining the positioning coordinates includes: obtaining the corresponding predicted coordinates from the stored reference points based on the number in the location information as the positioning coordinates.

[0024] In some embodiments, the location information further includes coordinate differences, and the aforementioned steps for obtaining the positioning coordinates include: obtaining the corresponding predicted coordinates from the stored reference points based on the number in the location information; and generating positioning coordinates based on the predicted coordinates and the coordinate differences.

[0025] In some embodiments, the monitoring method for unmanned aerial vehicles further includes: selectively generating new reference points based on the current positioning coordinates and the previous positioning coordinates, and sending the new reference points to the unmanned aerial vehicle.

[0026] In some embodiments, the aforementioned selective generation step of the new reference point includes: obtaining the previous positioning coordinates of the unmanned aerial vehicle; estimating the next uploaded positioning coordinates based on the current positioning coordinates and the previous positioning coordinates; obtaining the predicted coordinates corresponding to the next upload time point from the stored reference points; comparing the estimated positioning coordinates with the obtained predicted coordinates; and using the estimated positioning coordinates as the predicted coordinates of the new reference point in response to the difference between the estimated positioning coordinates and the obtained predicted coordinates.

[0027] In some embodiments, the aforementioned selective generation step of the new reference point is implemented using the following formula:

[0028] Where T represents the upload time, Loc p (T+1) represents the estimated positioning coordinates, Loc(T) represents the current positioning coordinates, and [Loc(t)-Loc(t-1)] represents the positional change between two adjacent positioning coordinates, and M t Represents weight.

[0029] Among them, the position change is represented by a weight of zero when the unmanned aerial vehicle is flying at a constant speed, and a weight of 1 when it is flying at a different speed.

[0030] In some embodiments, the monitoring method for an unmanned aerial vehicle further includes: receiving new endpoint coordinates of a new destination; sending a destination change signal to the unmanned aerial vehicle in response to receiving the new endpoint coordinates; re-performing the position information receiving step and the positioning coordinate obtaining step in response to the sending of the destination change signal; predicting multiple change reference points based on the new starting coordinates, the new endpoint coordinates, a predetermined flight speed, and an upload frequency; updating the stored reference points with the multiple change reference points; and sending the multiple change reference points to the unmanned aerial vehicle.

[0031] Each changed reference point has a number and predicted coordinates. The predicted coordinates of multiple changed reference points are located on the changed flight path. The two ends of the changed flight path are the new starting coordinates and the new ending coordinates, respectively. The new starting coordinates are the re-obtained positioning coordinates.

[0032] In some embodiments, an unmanned aerial vehicle (UAV) includes: a flight body, a storage module, a positioning module, a wireless communication module, and a control module. The positioning module is located on the flight body and configured to generate positioning coordinates. The storage module stores multiple reference points, each with a number and predicted coordinates. The control module is connected to the flight body, storage module, positioning module, and wireless communication module, and configured to execute the aforementioned information uploading method for the UAV.

[0033] In some embodiments, a remote monitoring platform includes: a storage module, a wireless communication module, and a processing module. The storage module stores the predicted flight path of an unmanned aerial vehicle (UAV). The processing module is connected to the storage module and the wireless communication module, and is configured to execute the aforementioned UAV monitoring method. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of an embodiment of an unmanned aerial vehicle management system.

[0035] Figure 2 for Figure 1 Functional block diagram of an unmanned aerial vehicle.

[0036] Figure 3 for Figure 1 Functional block diagram of the remote monitoring platform.

[0037] Figure 4 This is a flowchart illustrating a monitoring method for an unmanned aerial vehicle according to one embodiment.

[0038] Figure 5 This is a flowchart illustrating an embodiment of an information uploading method for an unmanned aerial vehicle.

[0039] Figure 6 This is a flowchart of step S540 in one embodiment.

[0040] Figure 7 This is a flowchart of step S620 in one embodiment.

[0041] Figure 8 This is a flowchart of step S630 in one embodiment.

[0042] Figure 9 This is a flowchart of step S450 of one embodiment.

[0043] Figure 10 The flowchart is for step S450 of another embodiment.

[0044] Figure 11 This is a schematic diagram of a reference point predicted by a remote monitoring platform in one embodiment.

[0045] Figure 12This is a partial flowchart of a monitoring method for an unmanned aerial vehicle according to another embodiment.

[0046] Figure 13 This is a partial flowchart of an information uploading method for an unmanned aerial vehicle according to another embodiment.

[0047] Figure 14 A schematic diagram of a reference point predicted by a remote monitoring platform in another embodiment.

[0048] Figure 15 This is a flowchart of step S450 in yet another embodiment.

[0049] The reference numerals in the attached figures are explained as follows:

[0050] 1: Unmanned Aerial Vehicle Management System

[0051] 10: Unmanned Aerial Vehicles

[0052] 110: Flight Body

[0053] 120: Control Module

[0054] 130: Storage Module

[0055] 140: Wireless communication module

[0056] 150: Positioning Module

[0057] 20: Remote monitoring platform

[0058] 220: Processing Module

[0059] 230: Storage Module

[0060] 240: Wireless communication module

[0061] 260: Wired network module

[0062] 270: User Interface

[0063] 30: User device

[0064] S410~S450, S510~S540, S542, S542a, S542b, S544, S610~S630, S621, S622, S631~S635, S710~S760, S810~S850, S910~S940, S931~S934, S1110, S1111~S1115, S1130: Steps

[0065] P1~P17, P'9~P'15: Reference points

[0066] PH1: Expected flight path

[0067] PH2: Change of flight path Detailed Implementation

[0068] Reference Figure 1 The unmanned aerial vehicle management system 1 includes one or more unmanned aerial vehicles (UAVs) 10 and a remote monitoring platform 20. Each UAV 10 establishes communication with the remote monitoring platform 20 via a wireless communication network to transmit signals and / or information. The remote monitoring platform 20 monitors the movement of the UAVs 10. During flight, each UAV 10 reports its current location to the remote monitoring platform 20. For clarity, the communication between the UAV 10 and the remote monitoring platform 20 is explained in detail below using a single UAV 10 as an example.

[0069] Reference Figure 1 and Figure 2 The unmanned aerial vehicle 10 includes a flight body 110, a control module 120, a storage module 130, a wireless communication module 140, and a positioning module 150. The control module 120 is coupled to the flight body 110, the storage module 130, the wireless communication module 140, and the positioning module 150. In some embodiments, the flight body 110 may consist of a flight mechanism and a drive circuit. The drive circuit is coupled to the control module 120 and the flight mechanism, and can drive the flight mechanism to fly under the control of the control module 120. The positioning module 150 is configured to perform positioning and generate positioning coordinates. The wireless communication module 140 is configured to connect to a remote monitoring platform 20 via a wireless communication network.

[0070] Reference Figures 1 to 3 The remote monitoring platform 20 includes a processing module 220, a storage module 230, and a wireless communication module 240. The processing module 220 is connected to the storage module 230 and the wireless communication module 240. The wireless communication module 240 is configured to connect to the wireless communication module 140 via a wireless communication network, enabling the remote monitoring platform 20 to transmit signals and / or information to the unmanned aerial vehicle 10.

[0071] Reference Figures 1 to 4After the unmanned aerial vehicle management system 1 is started, the user can learn the current location of the unmanned aerial vehicle 10 from the remote monitoring platform 20 through the user interface 270 of the remote monitoring platform 20 or through the user device 30 connected to the remote monitoring platform 20 via a network, and input the destination (i.e., provide the destination coordinates to the remote monitoring platform 20 via the user interface 270 or the user device 30). Here, the user interface 270 or the user device 30 is configured to allow the processing module 220 to receive the destination indication input from the outside. In some embodiments, the user interface 270 or the user device 30 may provide fields for the user to input the destination coordinates, or provide an electronic map for the user to select the location of the destination to generate the destination coordinates.

[0072] In some embodiments, the user interface 270 is coupled to the processing module 220.

[0073] In some embodiments, the user device 30 connects to the wireless communication module 240 of the remote monitoring platform 20 via a wireless communication network to establish a communication connection with the remote monitoring platform 20. In some embodiments, the remote monitoring platform 20 may also include a wired network module 260, and this wired network module 260 is coupled to the processing module 220. In this case, the user device 30 may also connect to the wired network module 260 of the remote monitoring platform 20 via a wired network to establish a communication connection with the remote monitoring platform 20.

[0074] After receiving the destination coordinates from the processing module 220 of the remote monitoring platform 20 (step S410), the processing module 220 generates multiple reference points based on the expected flight path of the unmanned aerial vehicle 10 (step S420). Then, the processing module 220 stores the multiple reference points in the storage module 230 (step S430) and sends the multiple reference points to the unmanned aerial vehicle 10 via the wireless communication module 240 (step S440).

[0075] The predicted flight path includes the starting coordinates and the ending coordinates at its two ends. The starting coordinates represent the takeoff location of the unmanned aerial vehicle 10, i.e., its current position before takeoff. Each reference point includes its number and its predicted coordinates.

[0076] In some embodiments, the predetermined flight speed and upload frequency can be preset by the user through the user interface 270 or the user device 30 and stored in the storage module 230. In other words, the processing module 220 can receive the predetermined flight speed and upload frequency set by the user for the unmanned aerial vehicle 10 via the user interface 270 or the user device 30 and store the received predetermined flight speed and upload frequency in the storage module 230.

[0077] In some embodiments, the starting coordinates may be pre-acquired and stored in the storage module 230. In some examples, after the unmanned aerial vehicle 10 is started, the control module 120 may first perform positioning via the positioning module 150 to obtain the positioning coordinates of the current position and upload the position information with the positioning coordinates to the remote monitoring platform 20 via the wireless communication module 140. At this time, the processing module 220 can receive the position information from the unmanned aerial vehicle 10 via the wireless communication module 240 to obtain the positioning coordinates (i.e., the current position of the unmanned aerial vehicle 10, hereinafter referred to as the first obtained positioning coordinates) and store the first obtained positioning coordinates in the storage module 230. In other examples, the starting coordinates may also be input by the user through the user interface 270 or the user device 30 and stored in the storage module 230. In other words, the processing module 220 may receive the coordinates of the current position of the unmanned aerial vehicle 10 (i.e., the starting coordinates) input by the user through the user interface 270 or the user device 30 and store the received starting coordinates in the storage module 230.

[0078] In some embodiments, the predicted coordinates of the multiple reference points are multiple points on the expected flight path of the unmanned aerial vehicle 10. In some embodiments of step S420, the processing module 220 predicts the predicted coordinates of the multiple reference points based on the starting coordinates, the ending coordinates, the predetermined flight speed of the unmanned aerial vehicle 10's flight body 110, and the upload frequency of the unmanned aerial vehicle 10's position information. Specifically, after receiving the ending coordinates (step S410), the processing module 220 reads the initially obtained positioning coordinates from the storage module 230 and uses them as the starting coordinates. Next, the processing module 220 plans the expected flight path based on the starting coordinates (takeoff point) and the ending coordinates (destination), and then predicts L locations (i.e., the preset coordinates of L reference points) where the unmanned aerial vehicle 10 is expected to upload position information during this flight (flying along the expected flight path) based on the predetermined flight speed and upload frequency, and assigns numbers based on the expected upload time order of the L reference points. Here, L represents the largest number among the reference point numbers (i.e., the largest numerical number) and is a positive integer.

[0079] After sending (step S440), the processing module 220 will periodically perform a tracking procedure for the unmanned aerial vehicle 10 (step S450) according to the upload frequency of the unmanned aerial vehicle 10's location information, thereby obtaining the positioning coordinates of the unmanned aerial vehicle 10 at each upload time point.

[0080] Reference Figures 1 to 5In response to the action of the remote monitoring platform 20 sending multiple reference points (step S440), the control module 120 of the unmanned aerial vehicle 10 can receive the multiple reference points sent by the remote monitoring platform 20 via the wireless communication module 140 (step S510), and store the received multiple reference points in the storage module 130 (step S520).

[0081] Next, the control module 120 of the unmanned aerial vehicle 10 controls the flight body 110 to fly along the expected flight path at a predetermined flight speed (step S530).

[0082] In some embodiments, the multiple reference points may include the destination. That is, the processing module 220 of the remote monitoring platform 20 uses the destination's endpoint coordinates as the predicted coordinates of the reference point with the largest number. At this time, in step S530, the control module 120 controls the flight body 110 to take off from the starting coordinates and fly towards the predicted coordinates of each reference point one by one according to the reference point's number at a predetermined flight speed.

[0083] In some embodiments, the multiple reference points may not include a destination. That is, when sending multiple reference points, the remote monitoring platform 20 also sends the destination information. In one example, in step S440, the processing module 220 first packages the multiple reference points and the destination coordinates into a packet, and then sends the formed packet to the unmanned aerial vehicle 10 via the wireless communication module 240. In step S530, the control module 120, based on the multiple reference points and the destination coordinates obtained from the received packet, first controls the flight body 110 to take off from the starting coordinates and fly towards the predicted coordinates of each reference point one by one according to the reference point number at a predetermined flight speed, and finally controls it to fly from the predicted coordinates of the reference point with the largest number to the destination coordinates at a predetermined flight speed. In another example, in step S440, the processing module 220 first packages the multiple reference points and the expected flight path into a packet, and then sends the formed packet to the unmanned aerial vehicle 10 via the wireless communication module 240. In step S530, the control module 120 controls the flight body 110 to take off and fly along the expected flight path at a predetermined speed according to the expected flight path obtained from the received packet.

[0084] Furthermore, during flight, the processing module 220 periodically performs an information upload procedure (step S540) according to the upload frequency, thereby reporting the location coordinates of the unmanned aerial vehicle 10 at each upload time point to the remote monitoring platform 20. In some embodiments, the total number of upload time points may be equal to or greater than the total number of reference points, and each upload time point must correspond one-to-one with a reference point.

[0085] Reference Figure 1 , Figure 2 , Figure 5 and Figure 6 During each information upload process (step S540), the processing module 220 generates location information based on multiple reference points (step S542) and uploads the generated location information to the remote monitoring platform 20 (step S544). Each reference point has a number and a predicted coordinate.

[0086] In step S542, the processing module 220 selects a selected reference point whose predicted coordinates are similar to or the same as the positioning coordinates among multiple reference points (step S542a), and generates position information with the selected reference point's number in response to the selected reference point (step S542b).

[0087] In some embodiments of step S542a, the processing module 220 first obtains the positioning coordinates of the current position via the positioning module 150 (step S610), and selects the reference point with the highest data similarity between the predicted coordinates and the positioning coordinates from the multiple reference points stored in the storage module 130 as the selected reference point (step S620). Then, in step S542b, the processing module 220 generates position information based on the number of the selected reference point and the coordinate difference between the predicted coordinates and the positioning coordinates of the selected reference point (step S630).

[0088] In some embodiments, the highest data similarity is defined as having the fewest remaining bits when comparing multiple bits of the predicted coordinates with multiple bits of the positioning coordinates from left to right, starting from the first dissimilar bit. In some embodiments, when the positioning coordinates and predicted coordinates are each represented by multiple components (e.g., latitude and longitude), the control module 120 first compares each component individually and calculates the number of remaining bits for each component, and then calculates the sum of the remaining bits for these components. The highest data similarity is defined as having the fewest sum of remaining bits among the multiple reference points.

[0089] In some embodiments of step S620, refer to Figure 2 , Figure 5 and Figure 7 The control module 120 calculates the difference data between the predicted coordinates and the positioning coordinates of each reference point based on the positioning coordinates and the predicted coordinates of multiple reference points (step S621), and selects the reference point with the largest difference data from the multiple reference points as the selected reference point (step S622).

[0090] In some embodiments, the control module 120 performs step S620 by performing the following formula (1).

[0091]

[0092] Where L represents the largest reference point number stored in storage module 130. n represents the reference point number currently being calculated, and is one of the multiple reference point numbers stored in storage module 130. i represents the decimal digit number. U n bit i R represents the i-th bit in the positioning coordinates. n bit i This represents the i-th bit in the predicted coordinates of the n-th reference point among the multiple reference points stored in storage module 130. Here, n and i are positive integers.

[0093] Reference Figure 1 , Figure 2 and Figure 5 In some embodiments, when the positioning coordinates are the same as the predicted coordinates of the selected reference point, in step S630, the location information uploaded by the unmanned aerial vehicle 10 only contains the data of the selected reference point number but not the data of the coordinate difference and the positioning coordinates. In other words, the control module 120 directly packages the number of the selected reference point into a packet (i.e., location information) and sends the packet to the remote monitoring platform 20 via the wireless communication module 140.

[0094] In other embodiments, when the location coordinates differ from the predicted coordinates of the selected reference point but are similar to the predicted coordinates of the selected reference point, in step S630, the coordinate difference is composed of a distinguishing character and multiple difference bits between the predicted coordinates and the location coordinates. That is, the control module 120 uses the selected reference point number, the distinguishing character, and multiple difference bits between the predicted coordinates and the location coordinates to form the data to be uploaded, packages it into a packet, and then sends the packet carrying the data to be uploaded (i.e., location information) to the remote monitoring platform 20 via the wireless communication module 140. For example, assuming the location coordinates are [2234.666,N,12021.123,E] and the selected reference point is [2#2234.889,N,12021.360,E], the control module 120 will generate and transmit the coordinate information [2#,666,N,123,E] to the remote monitoring platform 20. Here, "2#" is the number of the selected reference point, and "2234.889,N,12021.360,E" is the predicted coordinate of the selected reference point.

[0095] In some other embodiments, when the positioning coordinates are different from the predicted coordinates of the selected reference point and the positioning coordinates are not similar to the predicted coordinates of the selected reference point, in step S630, the control module 120 directly packages the positioning coordinates (i.e., location information) into a packet and sends the packet to the remote monitoring platform 20 via the wireless communication module 140.

[0096] Reference Figure 1 , Figure 2 , Figure 5 and Figure 8 In some embodiments of step S630, after identifying the selected reference point (step S620), the control module 120 calculates the similarity between the predicted coordinates and the location coordinates of the selected reference point (step S631). Specifically, the control module 120 responds to the similarity indicating the similarity between the predicted and location coordinates, calculates the coordinate difference (step S633), and generates location information using the selected reference point's number, distinguishing character, and coordinate difference (step S634). Then, the control module 120 sends the generated location information to the remote monitoring platform 20 via the wireless communication module 140 (step S544).

[0097] In some examples, when the similarity indicates that the predicted coordinates are not similar to the location coordinates, the control module 120 directly uses the location coordinates as the location information (step S632), and then sends the generated location information to the remote monitoring platform 20 via the wireless communication module 140 (step S544).

[0098] When the similarity indicates that the predicted coordinates are similar to the location coordinates but different from the location coordinates, the control module 120 calculates the coordinate difference between the predicted coordinates and the location coordinates (step S633), and generates location information using the selected reference point number, the distinguishing character, and the coordinate difference (step S634). Then, the control module 120 sends the generated location information to the remote monitoring platform 20 via the wireless communication module 140 (step S544). For example, in step S633, the control module 120 compares the multiple bits of each component of the predicted coordinates of the selected reference point with the multiple bits of the corresponding component of the location coordinates sequentially from left to right. When a difference is found between the two components, the control module extracts the bits from the component that are different from the corresponding bits of the location coordinates to the rightmost bit (i.e., the difference bit). In other words, the coordinate difference is a string composed of one or more difference bits. Then, in step S634, the control module 120 concatenates the selected reference point number, the distinguishing character, and one or more difference bits extracted from each component in step S633 into a string and uses this string as the position information.

[0099] When the similarity indicates that the predicted coordinates are similar to the location coordinates and the predicted coordinates are the same as the location coordinates, the control module 120 directly uses the number of the selected reference point as the location information (step S635), and then sends the generated location information to the remote monitoring platform 20 via the wireless communication module 140 (step S544).

[0100] In some embodiments, the control module 120 performs step S631 by performing the following formula (2).

[0101]

[0102] Where S represents the similarity. m represents the sequence number of the upload time point corresponding to the currently calculated positioning coordinates. l represents the number of the selected reference point. i represents the decimal number. U m bit i R represents the i-th bit in the positioning coordinates. l bit i This represents the i-th bit in the predicted coordinates of the selected reference point. P represents the decimal number of the selected reference point's number.

[0103] Where S equals or is greater than zero, it means that the predicted coordinates of the selected reference point are similar to the positioning coordinates.

[0104] Reference Figure 1 , Figure 3 , Figure 4 and Figure 9 During each tracking procedure for the unmanned aerial vehicle 10 (step S450), the processing module 220 receives the location information uploaded by the unmanned aerial vehicle 10 via the wireless communication module 240 (step S910), and obtains the positioning coordinates of the unmanned aerial vehicle 10 using the selected reference point number in the location information and the reference points stored in the storage module 230 (step S930).

[0105] Specifically, refer to Figure 1 , Figure 3 , Figure 4 and Figure 10 In some embodiments, after the processing module 220 receives the location information uploaded by the unmanned aerial vehicle 10 via the wireless communication module 240 (step S910), the processing module 220 first identifies the attributes of the data content carried by the location information (step S920) to confirm whether there is a selected reference point number in the location information and obtains the current location coordinates of the unmanned aerial vehicle 10 at the upload time from the location information uploaded by the unmanned aerial vehicle 10.

[0106] In some embodiments, the processing module 220 executes step S930 in response to location information containing only the selected reference point number. Specifically, in an example of step S930, when the location information contains only the selected reference point number (i.e., data containing only the selected reference point number but no coordinate difference), the processing module 220 retrieves the corresponding predicted coordinates from the stored reference points based on the selected reference point number in the location information to serve as the positioning coordinates of the unmanned aerial vehicle 10 at the current location at this upload time point (step S931).

[0107] In other embodiments, processing module 220 executes step S930 in response to location information consisting of a string of selected reference point numbers, distinguishing characters, and coordinate differences. Specifically, in another example of step S930, when the data in the location information is a string consisting of selected reference point numbers, distinguishing characters, and coordinate differences, processing module 220 obtains the corresponding predicted coordinates from the stored reference points based on the selected reference point numbers in the location information (step S933), and generates positioning coordinates based on the obtained predicted coordinates and coordinate differences (step S934). For example, in step S934, processing module 220 replaces the corresponding bits in the obtained predicted coordinates with the difference bits in the coordinate differences to generate positioning coordinates (i.e., the replaced predicted coordinates).

[0108] In some other embodiments, when the location information contains only coordinates (i.e., only the positioning coordinates are carried, without the number of the selected reference point and the coordinate difference), the processing module 220 directly obtains the positioning coordinates of the current location of the unmanned aerial vehicle 10 at the upload time point from the location information (step S940).

[0109] For example, refer to Figures 1 to 3 and Figure 11 Assuming the remote monitoring platform 20 knows that the unmanned aerial vehicle 10 intends to take off from Kaohsiung International Airport (i.e., the starting coordinates of the takeoff point) and land at Pingtung Southeast International Airport (i.e., the ending coordinates of the destination), with a planned flight speed of 160 km / hr and an upload frequency of once per minute (M=1), meaning that the storage module 230 of the remote monitoring platform 20 already stores the aforementioned information, the processing module 220 of the remote monitoring platform 20 will predict the current location of all upload times of the unmanned aerial vehicle 10 during this flight based on the aforementioned information, thus obtaining the following... Figure 11 The predicted coordinates (Rn) of the 17 reference points P1 to P17 are shown in Table 1 below. These 17 reference points P1 to P17 are located on the predicted flight path PH1. Next, the processing module 220 of the remote monitoring platform 20 sorts the predicted coordinates (Rn) of the 17 reference points P1 to P17 and assigns them numbers (n#). Using these numbers (n#) and their corresponding predicted coordinates (Rn), the platform forms 17 reference points P1 to P17 and sends them to the unmanned aerial vehicle 10.

[0110] Table 1: 17 reference points P1~P17

[0111]

[0112]

[0113] The control module 120 of the unmanned aerial vehicle 10 receives 17 reference points P1 to P17 via the wireless communication module 140 and stores them in the storage module 130. It then controls the flight vehicle 110 to take off and fly at a speed of 160 km / hr towards the predicted coordinates (Rn, n# = 17#) of reference point P17. After takeoff, the control module 120 performs an information upload procedure every minute.

[0114] During the information upload process, the control module 120 of the unmanned aerial vehicle 10 calculates, using formula (1), which of the 17 reference points P1 to P17 reduces the number of bits the most. In other words, the control module 120 obtains the current positioning coordinates via the positioning module 150 and compares these coordinates with the predicted coordinates (Rn) of all reference points P1 to P17 stored in the storage module 130. For clarity, the following description uses square brackets to distinguish the terminology.

[0115] Taking the second upload time point (i.e., the unmanned aerial vehicle 10 flying at a constant speed for exactly 1 minute) as an example, the positioning coordinates obtained by the control module 120 via the positioning module 150 are [2234.889, N, 12021.360, E]. The control module 120 reads the predicted coordinates (Rn) of 17 reference points P1 to P17 from the storage module 130, and uses formula (1) to select the reference point P2 with the fewest difference bits from the positioning coordinates [2234.889, N, 12021.360, E] as the selected reference point (P2). Next, the control module 120 uses formula (2) to calculate that the similarity between the predicted coordinates [2234.889,N,12021.360,E] of the reference point P2 and the positioning coordinates [2234.889,N,12021.360,E] is greater than zero. This means that the predicted coordinates [2234.889,N,12021.360,E] of the reference point P2 and the positioning coordinates [2234.889,N,12021.360,E] have similar data, which means that data reduction can be performed. Next, the control module 120 compares the predicted coordinates [2234.889,N,12021.360,E] with the positioning coordinates [2234.889,N,12021.360,E] and finds that the coordinate data of the two are completely consistent. Therefore, the control module 120 directly uploads the selected reference point number [2#] as the position information to the remote monitoring platform 20. At this time, the amount of position information uploaded by the unmanned aerial vehicle 10 is only 1 byte.

[0116] Therefore, if the UAV 10 did not use reference points during this flight, and flew at the set speed, it would need to transmit 374 (22 * 17) bytes of data to upload 17 location coordinates at 17 upload points. With the reference point design, the UAV 10 can save 349 (442 - 25) bytes of data compared to uploading 17 location coordinates at 17 upload points. On average, each upload point saves 20.5 bytes of data, meaning that compared to a 22-byte coordinate data packet, the upload packet size reduction rate reaches 93%.

[0117] In some embodiments, when a user changes their destination during flight, the remote monitoring platform 20 re-predicts the reference point between the current location and the new destination and provides it to the unmanned aerial vehicle 10 to change its flight direction and update the stored reference point.

[0118] In some embodiments, refer to Figures 1 to 5 and Figure 12 The processing module 220 of the remote monitoring platform 20 receives the destination coordinates (hereinafter referred to as the new destination coordinates) of the new destination through the user interface 270 or the user device 30 (step S710), and in response to receiving the new destination coordinates, sends a destination change signal to the unmanned aerial vehicle 10 through the wireless communication module 240 (step S720), thereby requesting the unmanned aerial vehicle 10 to report its current position.

[0119] Next, in response to the transmission of the destination change signal, the processing module 220 performs an additional tracking procedure for the unmanned aerial vehicle 10 (step S450). In other words, after transmission (step S720), the processing module 220 will perform the tracking procedure for the unmanned aerial vehicle 10 again (step S450) to obtain the current location coordinates of the unmanned aerial vehicle 10 again.

[0120] After obtaining the current location coordinates of the unmanned aerial vehicle 10 again (step S450), the processing module 220 uses the obtained location coordinates as the starting coordinates (hereinafter referred to as the new starting coordinates), and predicts the predicted coordinates of multiple change reference points based on the new starting coordinates, the new ending coordinates, the predetermined flight speed, and the upload frequency (step S740). The processing module 220 sequentially numbers the multiple change reference points starting from the number corresponding to the next upload time point, forms multiple change reference points with the numbers of the multiple change reference points and their predicted coordinates, and updates the reference points stored in the storage module 230 with the multiple change reference points (step S750).

[0121] In some embodiments of step S750, the processing module 220 updates the reference points stored in the storage module 230 with multiple changed reference points, including the reference points corresponding to the next upload time point and subsequent reference points. Specifically, the processing module 220 replaces reference points with the same number stored in the storage module 230 with multiple changed reference points and deletes reference points with numbers greater than the largest number of the changed reference points.

[0122] Furthermore, the processing module 220 will also send multiple modified reference points to the unmanned aerial vehicle 10 via the wireless communication module 240 (step S760).

[0123] At this time, refer to Figures 1 to 5 and Figure 13 The control module 120 of the unmanned aerial vehicle 10 can receive a destination change signal from the remote monitoring platform 20 via the wireless communication module 140 (step S810), and respond to the destination change signal by performing an additional information upload procedure (step S540), thereby reporting the current location coordinates to the remote monitoring platform 20.

[0124] After the additional information upload procedure (i.e., after uploading location information again), the control module 120 of the unmanned aerial vehicle 10 can receive reference point update information from the remote monitoring platform 20 via the wireless communication module 140 (step S830). The reference point update information includes the aforementioned multiple changed reference points, and the multiple changed reference points are numbered sequentially starting from the number corresponding to the next upload time point. These changed reference points are located on the changed flight path.

[0125] Next, the control module 120 updates the multiple reference points stored in the storage module 130 with reference point update information (step S840). In some embodiments of step S840, the control module 120 updates the multiple reference points stored in the storage module 130 with the reference point update information, including the reference points with the number corresponding to the next upload time point and subsequent numbers. Specifically, the control module 120 replaces the reference points with the same number in the multiple reference points stored in the storage module 130 with the multiple changed reference points in the reference point update information one-to-one, and deletes the reference points with numbers greater than the largest number of the changed reference points.

[0126] Simultaneously, the control module 120 controls the flight vehicle 110 to change its flight path at a predetermined flight speed (step S850), i.e., to fly towards the destination. Similar to step S530, in some examples, the multiple changed reference points may include the destination, and after the change, the control module 120 controls the flight vehicle 110 to continue flying towards the predicted coordinates of each reference point at a predetermined flight speed, according to the reference point number. In other examples, the multiple reference points may not include the destination. When sending multiple changed reference points, the remote monitoring platform 20 also sends destination information (e.g., new endpoint coordinates or changed flight path) so that the unmanned aerial vehicle 10 can change its flight direction accordingly. That is, the reference point update information includes information on multiple changed reference points and the destination.

[0127] For example, refer to Figures 1 to 3 and Figure 11 Following the previous example, if the user changes their destination during flight, they will request the unmanned aerial vehicle 10 to change its flight direction to the Kao Tan camp (i.e., the new destination coordinates). The remote monitoring platform 20 will respond to the received new destination coordinates by sending a destination change signal to the unmanned aerial vehicle 10, so that the unmanned aerial vehicle 10 will perform an additional information upload procedure in response to the destination change signal.

[0128] Specifically, assume that the unmanned aerial vehicle 10 receives a destination change signal after 7 minutes of flight. Upon receiving the destination change signal, the control module 120 of the unmanned aerial vehicle 10 reads 17 reference points P1 to P17 (as shown in Table 1) from the storage module 130, and obtains the current location coordinates [2237.215, N, 12023.799, E] via the positioning module 150. The control module 120 compares the predicted coordinates (Rn) of the 17 reference points P1 to P17 with the location coordinates [2237.215, N, 12023.799, E], and selects reference point P8 as the selected reference point. Furthermore, based on the fact that the selected reference point P8 is the same as the positioning coordinates [2237.215,N,12023.799,E], the control module 120 directly transmits the number [8#] of the selected reference point P8 (i.e., no coordinate difference) back to the remote monitoring platform 20 via the wireless communication module 140.

[0129] After receiving the data, the remote monitoring platform 20 can read the predicted coordinates (Rn, n# = 8#) of the reference point P8 with the number [8#] from the 17 reference points P1 to P17 stored in the storage module 230, and use these predicted coordinates (Rn, n# = 8#) as the new starting coordinates.

[0130] Assuming the user sets the flight speed to V = 60 km / hr and the system uploads coordinate information every minute (M = 1), the remote monitoring platform 20 predicts the reference point for the unmanned aerial vehicle 10 to continue flying (e.g., ...). Figure 14 The predicted coordinates of the changed reference points P'9 to P'15 are shown in Table 2 below. The remote monitoring platform 20 will replace the predicted coordinates of the reference points P9 to P15 stored in the storage module 230 with the predicted coordinates of the changed reference points P'9 to P'15 and delete the reference points P16 to P17.

[0131] In this regard, the remote monitoring platform 20 will also transmit the changes to reference points P'9 to P'15 to the unmanned aerial vehicle 10 via the wireless communication network, and at the same time transmit the deletion command to delete reference points P16 to P17 to the unmanned aerial vehicle 10.

[0132] Table 2: Reference points for changes P'9~P'15

[0133]

[0134] After receiving the data, the unmanned aerial vehicle 10 will store the changed reference points P'9 to P'15 in the storage module 130, that is, overwrite the old reference points P9 to P15 and delete the old reference points P16 to P17, as shown in Table 3 below.

[0135] Table 3: Updated 15 reference points P1~P8, P'9~P'15

[0136]

[0137]

[0138] When the unmanned aerial vehicle 10 changes its flight path PH2 at a constant speed to fly towards the new destination, the unmanned aerial vehicle 10 intends to transmit coordinate information to the remote monitoring platform 20 at the 8th minute (i.e., the upload time point, which corresponds to the number [9#]). In other words, in step S420 or step S740, the remote monitoring platform 20 predicts that the location of the unmanned aerial vehicle 10 at the 8th minute is the reference point P9 (or changes the reference point P'9).

[0139] At the 8th minute, the location coordinates of the unmanned aerial vehicle 10 are [2237.731, N, 12023.636, E]. In step S620, the control module 120 of the unmanned aerial vehicle 10 reads the predicted coordinates of the 15 reference points P1~P8 and P'9~P'15 shown in Table 3 above from the storage module 130, and selects the reference point P'9 with the fewest difference bits from the location coordinates [2237.731, N, 12023.636, E] as the selected reference point using formula (1), and then sends the number [9#] of this selected reference point P'9 back to the remote monitoring platform 20. Here, since the predicted coordinates of the selected reference point P'9 are the same as the location coordinates [2237.731, N, 12023.636, E], there is no need to transmit coordinate differences (i.e., no coordinate differences).

[0140] In some embodiments, after the remote monitoring platform 20 obtains the positioning coordinates of the unmanned aerial vehicle 10 (step S930 or step S940), the processing module 220 will also monitor the position of the unmanned aerial vehicle 10 in real time through the updated position information of the unmanned aerial vehicle 10, and re-predict the reference point in real time when the current position of the unmanned aerial vehicle 10 has not reached the corresponding predicted position.

[0141] In some embodiments, refer to Figures 1 to 4 and Figure 15 During each tracking procedure for the unmanned aerial vehicle 10 (step S450), after the remote monitoring platform 20 obtains the positioning coordinates of the unmanned aerial vehicle 10 (step S930 or step S940), the processing module 220 selectively generates new reference points based on the positioning coordinates obtained this time and the positioning coordinates obtained previously (step S1110), and sends the new reference points to the unmanned aerial vehicle 10 (step S1130).

[0142] In some embodiments of step S1110, after the remote monitoring platform 20 obtains the positioning coordinates of the unmanned aerial vehicle 10 (hereinafter referred to as the current positioning coordinates) (step S930 or step S940), the processing module 220 obtains the previous positioning coordinates obtained in the previous tracking procedure for the unmanned aerial vehicle 10 (step S1111). Specifically, after obtaining the positioning coordinates of the unmanned aerial vehicle 10 in each tracking procedure, the processing module 220 stores the obtained positioning coordinates in the storage module 230. In any tracking procedure, after obtaining the current positioning coordinates (i.e., the positioning coordinates of the unmanned aerial vehicle 10 at the current upload time point), the processing module 220 reads the positioning coordinates of the unmanned aerial vehicle 10 obtained in the previous tracking procedure (i.e., the positioning coordinates of the unmanned aerial vehicle 10 at the previous upload time point, hereinafter referred to as the previous positioning coordinates) from the storage module 130.

[0143] Then, the processing module 220 estimates the location coordinates for the next upload based on the current location coordinates and the previous location coordinates (step S1112), and obtains the predicted coordinates corresponding to the next upload time point from the reference points stored in the storage module 230 based on the current upload time point (step S1113).

[0144] Next, the processing module 220 compares the estimated positioning coordinates with the obtained predicted coordinates (step S1114), and in response to the difference between the estimated positioning coordinates and the obtained predicted coordinates, uses the estimated positioning coordinates as the predicted coordinates in the new reference point (step S1115). The processing module 220 assigns the new reference point the largest number and uses the new reference point number and its predicted coordinates to form and store the new reference point in the storage module 230.

[0145] In some embodiments, the processing module 220 performs step S1110 by performing the following formula (3).

[0146]

[0147] Where T represents the upload time, Loc p (T+1) represents the estimated positioning coordinates, Loc(T) represents the current positioning coordinates, and [Loc(t)-Loc(t-1)] represents the positional change between two adjacent positioning coordinates, and M t Represents weight.

[0148] Among them, the position change is shown when the unmanned aerial vehicle 10 is flying at a constant speed, and the weight is zero (M). t =0), otherwise the weight is 1 (M) t =1).

[0149] When the control module 120 of the unmanned aerial vehicle 10 receives a new reference point via the wireless communication module 140, the control module 120 stores the new reference point in the storage module 130. For example, with L locations, the storage module 130 originally stores L reference points. The control module 120 stores the new reference point as the (L+1)th reference point in the storage module 130.

[0150] For example, refer to Figure 1 For example, unmanned aerial vehicle 10 took off from Kaohsiung International Airport and flew for 4 minutes (located at...). Figure 11 The reference point P5 shown can only fly towards Pingnan Airport at a speed of V = 15 km / hr due to weather conditions. Therefore, at the 5th minute of flight (predicted location at...), Figure 11As shown in the reference point P6), the control module 120 will use formula (1) to compare the current location coordinates [2236.149,N,12022.682,E] with the point data of the 17 reference points P1 to P17 stored in the storage module 130, and find the reference point P5 that saves the most data as the selected reference point. Then, the control module 120 will use formula (2) to generate the location information [5#149,N,682,E] with the number [5#] of the selected reference point P5, the distinguishing character [,] and the coordinate difference [149,N,682,E], and send the location information [5#149,N,682,E] back to the remote monitoring platform 20.

[0151] After receiving the location information [5.149, N, 682, E], the remote monitoring platform 20 learns the current location coordinates of the unmanned aerial vehicle 10 (Loc(T) = 2236.149, N, 12022.682, E), and reads the previous location coordinates (Loc(t)) of the unmanned aerial vehicle 10 from the storage module 230. Then, it substitutes these coordinates into formula (3) to estimate the location coordinates of the unmanned aerial vehicle 10 at the next upload time point [2236.828, N, 12023.392, E]. Since the position change from t = 0 to t = 4 is constant speed, M1 to M4 are set to zero, and M5 is set to 1 (i.e., M5 = 1).

[0152] Then, the remote monitoring platform 20 compares the estimated positioning coordinates [2236.828, N, 12023.392, E] with the predicted coordinates of the 17 reference points P1 to P17 stored in the storage module 230. Finding that it can save more data, it adds an 18th reference point using the estimated positioning coordinates [2236.828, N, 12023.392, E] and the number [18#], and transmits it to the unmanned aerial vehicle 10, so that the unmanned aerial vehicle 10 can add it as the 18th reference point. Specifically, following the previous example, when the unmanned aerial vehicle 10 already has... Figure 11 The 17 reference points P1 to P17 are shown, and the remote monitoring platform 20 then predicts new reference points using formula (3). If the predicted reference points can provide more data savings than the existing reference points P1 to P17 of the unmanned aerial vehicle 10, the remote monitoring platform 20 will transmit the predicted reference points to the unmanned aerial vehicle 10 to replace and / or add new reference points. For example, it may transmit new reference points with the numbers [16#] and [17#] to the unmanned aerial vehicle 10 to replace reference points P16 to P17 and / or transmit a reference point with the positioning coordinates [2236.828,N,12023.392,E] to the unmanned aerial vehicle 10 to add the 18th reference point with the content [18#2236.828,N,12023.392,E].

[0153] In some embodiments, the control module 120 of the unmanned aerial vehicle 10 automatically deletes all reference points stored in the storage module 130 after each flight mission.

[0154] It should be noted that although the steps are described in sequence above, this order is not a limitation of the present invention. Those skilled in the art should understand that, under reasonable circumstances, the execution order of some steps can be performed simultaneously or interchanged.

[0155] In some embodiments, the remote monitoring platform 20 may be, for example, a server or a host. In some examples, the server and host may be implemented by computers with different operating capabilities.

[0156] In some embodiments, the wireless communication network may be, for example, an LET Cat.1 (Long-Term Evolution Category 1) network, a Cat.M1 (also known as LTE-M) network, or a Narrowband Internet of Things (NB-IoT, also known as LTE Cat.NB1) network. That is, the wireless communication modules 140 and 240 may correspond to a circuit, chip, or network card that supports radio standards such as LET Cat.1 (Long-Term Evolution Category 1), Cat.M1 (also known as LTE-M), or Narrowband Internet of Things (NB-IoT, also known as LTE Cat.NB1) for the wireless communication network.

[0157] In some embodiments, the user interface 270 may be a peripheral device of the remote monitoring platform 20, such as a touch screen, a combination of a general display screen and multiple physical buttons, or a combination of a touch screen and one or more physical buttons.

[0158] In some embodiments, the user device 30 may be a personal computer (PC), a smartphone, a notebook, or a tablet or pad, etc.

[0159] In some embodiments, the wired network module 260 may be Ethernet, coaxial cable, or fiber optic, etc.

[0160] In some embodiments, either the control module 120 or the processing module 220 may be composed of one or more processing units. These processing units may be, for example, microprocessors, microcontrollers, digital signal processors (DSPs), central processing units (CPUs), programmable logic controllers (PLCs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or finite-state machines (FSMs). In some embodiments, the processing units may be implemented using integrated circuits (ICs), system-on-a-chip (SoCs), or any analog and / or digital device based on operation instructions and signals.

[0161] In some embodiments, each storage module 130, 230 may be implemented by one or more storage elements. Each storage element may be, for example, a memory, a memory card, or a temporary register.

[0162] In some embodiments, the positioning module 150 may be implemented using a Global Positioning System (GPS) or similar devices.

[0163] In some embodiments, the information uploading method of any embodiment of the unmanned aerial vehicle (UAV) can be implemented by a computer program product. In other words, this computer program product stores at least one program such that when the control module 120 of the UAV 10 loads and executes the program, the information uploading method of any embodiment of the UAV can be completed. In some embodiments, the computer program product can be a non-transitory readable recording medium, and the program is stored in the non-transitory readable recording medium for loading by the UAV 10. In other embodiments, the program itself can be a computer program product and transmitted to the UAV 10 via wired or wireless means.

[0164] In some embodiments, the monitoring method for any unmanned aerial vehicle (UAV) can be implemented by a computer program product. In other words, this computer program product stores at least one program such that when the computer (i.e., the remote monitoring platform 20) loads and executes the program, it can complete the monitoring and uploading method for any UAV. In some embodiments, the computer program product can be a non-transitory readable recording medium, and the program is stored in the non-transitory readable recording medium for loading by the UAV 10. In other embodiments, the program itself can be a computer program product and transmitted to the computer via wired or wireless means.

[0165] In summary, the unmanned aerial vehicle 10, its remote monitoring platform 20, its information uploading method, and its monitoring method in any embodiment significantly reduce the data length in the transmission packets, thereby effectively reducing the amount of data transmitted, thereby reducing data transmission time and saving the power consumption of the device.

Claims

1. A method for uploading information from an unmanned aerial vehicle, comprising: Generating location information based on multiple reference points, wherein each reference point has a number and a predicted coordinate, and the steps of generating the location information based on the multiple reference points include: Select one of the multiple reference points whose predicted coordinates are similar to or identical to a positioning coordinate; and In response to the selected reference point, generate the location information with the selected reference point's number; and Upload the location information to a remote monitoring platform.

2. The information uploading method for an unmanned aerial vehicle as described in claim 1, wherein the plurality of reference points are points on a predicted flight path of the unmanned aerial vehicle and are determined based on a predetermined flight speed and an upload frequency of the unmanned aerial vehicle.

3. The information uploading method for an unmanned aerial vehicle as described in claim 1, wherein the step of selecting the selected reference point includes: Obtain the current location coordinates of the unmanned aerial vehicle; as well as By comparing the positioning coordinates with the predicted coordinates of the multiple reference points, the reference point with the highest data similarity between the predicted coordinates and the positioning coordinates is selected as the selected reference point. The highest data similarity means that when comparing the multiple bits of the predicted coordinates with the multiple bits of the positioning coordinates from left to right, the number of remaining bits is the smallest, starting from the first different bit that is compared. The steps for generating the location information include: generating the location information based on the number of the selected reference point and a coordinate difference between the predicted coordinates and the positioning coordinates of the selected reference point.

4. The information uploading method for an unmanned aerial vehicle as described in claim 3, wherein the positioning coordinates are the same as the predicted coordinates of the selected reference point, and the location information contains only the data amount of the number of the selected reference point but no data amount of the coordinates differing from the positioning coordinates.

5. The information uploading method for an unmanned aerial vehicle as described in claim 3, wherein the positioning coordinates are different from the predicted coordinates of the selected reference point, and the coordinate difference is composed of a distinguishing character and multiple difference bits between the predicted coordinates and the positioning coordinates.

6. The information uploading method for an unmanned aerial vehicle as described in claim 3, wherein the step of selecting the selected reference point includes: Calculate the difference data between the predicted coordinates and the location coordinates of each reference point based on the location coordinates and the predicted coordinates of the multiple reference points; and The reference point with the largest amount of differential data among the multiple reference points is selected as the selected reference point.

7. The information uploading method for an unmanned aerial vehicle as described in claim 3, wherein the step of selecting the selected reference point is implemented using the following formula: in, L represents the largest of the reference points, n represents the reference point number being calculated and is one of the reference point numbers, i represents the decimal digit number, and U... n bit i Represents the i-th bit in the positioning coordinates, and R n bit i This represents the i-th bit in the predicted coordinates of the n-th reference point among the multiple reference points.

8. The information uploading method for an unmanned aerial vehicle as described in claim 1, wherein the step of generating the location information includes: Calculate the similarity between the predicted coordinates and the location coordinates of the selected reference point; as well as The response indicates the similarity between the predicted coordinates and the location coordinates, calculates the coordinate difference, and forms the location information using the selected reference point's number, a distinguishing character, and the coordinate difference.

9. The information uploading method for an unmanned aerial vehicle as described in claim 8, wherein the similarity calculation step is implemented using the following formula: in, S represents the similarity, m represents the sequence number of the upload time point corresponding to the currently calculated positioning coordinates, l represents the number of the selected reference point, and i represents the decimal number, U2bit. i Represents the i-th bit in the positioning coordinates, and R l bit i Let represent the i-th bit in the predicted coordinates of the selected reference point, and P represent the decimal number of the selected reference point's number; and Where S equals or is greater than zero, it means that the predicted coordinates are similar to the positioning coordinates.

10. The information uploading method for an unmanned aerial vehicle as described in claim 1, further comprising: Receive a destination change signal; In response to the destination change signal, the steps of generating and uploading the location information are repeated; Receive update information from a reference point on the remote monitoring platform; as well as Update the stored reference points with the update information from that reference point.

11. A method for monitoring an unmanned aerial vehicle, comprising: Multiple reference points are generated based on a predicted flight path of an unmanned aerial vehicle, each reference point having a number and a predicted coordinate. Store the multiple reference points generated; Send these multiple reference points to the unmanned aerial vehicle; Receive location information uploaded by the unmanned aerial vehicle, wherein the location information includes a number; and Using the number in the location information and the stored multiple reference points, the positioning coordinates of the unmanned aerial vehicle can be obtained.

12. The monitoring method for an unmanned aerial vehicle as claimed in claim 11, wherein the plurality of reference points are points on the expected flight path and are determined based on a predetermined flight speed and an upload frequency of the unmanned aerial vehicle.

13. The monitoring method for an unmanned aerial vehicle as described in claim 11, wherein the step of obtaining the positioning coordinates includes: Based on the number in the location information, the corresponding predicted coordinates are obtained from the stored multiple reference points and used as the positioning coordinates.

14. The monitoring method for an unmanned aerial vehicle as described in claim 11, wherein the location information further includes a coordinate difference, and the step of obtaining the positioning coordinates includes: Based on the number in the location information, the corresponding predicted coordinates are obtained from the stored multiple reference points; as well as The positioning coordinates are generated based on the difference between the predicted coordinates and the actual coordinates.

15. The monitoring method for an unmanned aerial vehicle as described in claim 11, further comprising: New reference points are selectively generated based on the current positioning coordinates and the previous positioning coordinates; as well as Send the new reference point to the unmanned aerial vehicle.

16. The monitoring method for an unmanned aerial vehicle as described in claim 15, wherein the selective generation step of the new reference point includes: Obtain the previous location coordinates of the unmanned aerial vehicle; Estimate the next upload coordinates based on the current location coordinates and the previous location coordinates; Obtain the predicted coordinates corresponding to the next upload time point from the stored multiple reference points; Compare the estimated positioning coordinates with the obtained predicted coordinates; and In response to the difference between the estimated positioning coordinates and the obtained predicted coordinates, the estimated positioning coordinates are used as the predicted coordinates of the new reference point.

17. The monitoring method for an unmanned aerial vehicle as described in claim 15, wherein the selective generation step of the new reference point is implemented using the following formula: in, T represents the upload time, Loc p (T+1) represents the estimated location coordinates, Loc(T) represents the current location coordinates, and [Loc(t)-Loc(t-1)] represents the positional change between two adjacent location coordinates, and M t Represents weight; as well as Specifically, when the unmanned aerial vehicle is flying at a constant speed, the weight is zero; otherwise, the weight is 1.

18. The monitoring method for an unmanned aerial vehicle as described in claim 11, further comprising: Receive the new destination coordinates; Upon receiving the new destination coordinates, the unmanned aerial vehicle sends a destination change signal to the unmanned aerial vehicle. In response to the transmission of the destination change signal, the steps of receiving the location information and obtaining the positioning coordinates are repeated; Multiple change reference points are predicted based on a new starting coordinate, a new ending coordinate, a predetermined flight speed and an upload frequency. Each change reference point has a number and a predicted coordinate. The predicted coordinates of the multiple change reference points are located on a change flight path. The two ends of the change flight path are the new starting coordinate and the new ending coordinate, respectively. The new starting coordinate is the re-obtained positioning coordinate. Update the stored reference points with the multiple changed reference points; and Send the multiple changed reference points to the unmanned aerial vehicle.

19. An unmanned aerial vehicle, comprising: One flight body; A storage module stores multiple reference points, each of which has a number and a predicted coordinate. A positioning module, located on the flight body, is configured to generate positioning coordinates; A wireless communication module is located on the flight body; and A control module, connected to the flight unit, the storage module, the positioning module, and the wireless communication module, is configured to execute: A location information is generated based on the multiple reference points and the positioning coordinates, including: Select one reference point from among the multiple reference points whose predicted coordinates are similar to or identical to the positioning coordinates; and In response to the selected reference point, generate the location information with the selected reference point's number; and Upload the location information to a remote monitoring platform.

20. A remote monitoring platform, comprising: A storage module stores a projected flight path of an unmanned aerial vehicle; One wireless communication module; as well as A processing module, connected to the storage module and the wireless communication module, is configured to execute: Multiple reference points are generated based on the predicted flight path, each of which has a number and a predicted coordinate. The multiple reference points are stored in the storage module; The multiple reference points are transmitted to the unmanned aerial vehicle via the wireless communication module; and The location information uploaded by the unmanned aerial vehicle is received via the wireless communication module, wherein the location information includes the number of a selected reference point; and Using the selected reference point's number and the stored multiple reference points, a positioning coordinate of the unmanned aerial vehicle is obtained.

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