Control method for movable platform, apparatus, system, device, and storage medium

Abstract

A control method for a movable platform, an apparatus, a system, a device, and a storage medium. The method comprises: obtaining a result that the current state of a movable platform satisfies an abnormal state, wherein whether the current state of the movable platform satisfies the abnormal state can represent the strength and / or credibility of a signal of the movable platform (S202); and in response to the current state of the movable platform satisfying the abnormal state and the movable platform having obtained release permission information, controlling the movable platform to continue executing a task without canceling the task (S204). In the present application, by adding a release mode, on the premise that a signal state is abnormal and the movable platform has obtained release permission information, the movable platform is permitted to continue executing a task without canceling the execution of the task. The problem that the movable platform is restricted from executing tasks in an abnormal state is solved, the flexibility of controlling the movable platform can be improved, and the task execution scenarios of the movable platform can be expanded.

Description

Control methods, devices, systems, equipment, and storage media for mobile platforms Technical Field

[0001] This application relates to the field of mobile platform technology, and more specifically, to a control method, apparatus, system, device, and storage medium for a mobile platform. Background Technology

[0002] Before or during a drone's mission, its status can be monitored to determine if any anomalies exist. In related technologies, any detected anomalies force the drone to cancel its current mission. This control method limits the drone's mission execution and hinders its flexible control. Summary of the Invention

[0003] In view of this, this application provides a control method, apparatus, system, device, and storage medium for a mobile platform.

[0004] According to a first aspect of this application, a method for controlling an aircraft is provided, the method comprising:

[0005] Obtain the result that the current state of the aircraft satisfies the abnormal state;

[0006] In response to the current state of the aircraft satisfying the abnormal state, and the aircraft having obtained clearance information, the aircraft is controlled to continue performing the mission without returning to base; wherein, the abnormal state includes: the remote control signal of the aircraft being interfered with, the satellite positioning signal of the aircraft being interfered with, and / or the satellite positioning signal of the aircraft being spoofed.

[0007] This application, by adding a method of deregulation, allows aircraft to perform missions in scenarios with interference or deception, solving the problem of limited mission performance by aircraft under abnormal conditions, improving the flexibility of aircraft control, and expanding the scenarios in which aircraft can perform missions.

[0008] According to a second aspect of this application, a control method for a mobile platform is provided, the method comprising:

[0009] The result of obtaining the current state of the mobile platform satisfying the abnormal state is obtained, wherein whether the current state of the mobile platform satisfies the abnormal state can characterize the signal strength and / or credibility of the mobile platform.

[0010] In response to the current state of the mobile platform satisfying the abnormal state, and the mobile platform having obtained unblocking permission information, the system controls the mobile platform to continue executing the task without canceling the task.

[0011] This application, by adding a de-encryption method, allows a mobile platform to continue executing tasks without canceling them, provided that the signal state is abnormal and the mobile platform has obtained de-encryption permission information. This solves the problem of limited task execution by mobile platforms under abnormal conditions, improves the flexibility of mobile platform control, and expands the scenarios in which mobile platforms can perform tasks.

[0012] According to a third aspect of this application, a control method for a mobile platform is provided, the method comprising:

[0013] The result of obtaining the current state of the mobile platform satisfying the abnormal state is obtained, wherein the current state of the mobile platform is related to the working state of the components of the mobile platform;

[0014] In response to the current state of the mobile platform satisfying the abnormal state, and the mobile platform having obtained unblocking permission information, the system controls the mobile platform to continue executing the task without canceling the task, wherein the unblocking permission information was generated before the current state satisfied the abnormal state.

[0015] This application, by adding a de-encryption method, allows a mobile platform to continue executing tasks without canceling them, provided that the working state of its components is abnormal and the mobile platform has obtained de-encryption permission information. This solves the problem of limited task execution by the mobile platform under abnormal conditions, improves the flexibility of mobile platform control, and expands the scenarios in which the mobile platform can execute tasks.

[0016] According to a fourth aspect of this application, a method for controlling an aircraft is provided, comprising:

[0017] Obtain the result that the current state of the aircraft satisfies the abnormal state;

[0018] In response to the current state of the aircraft satisfying the abnormal state, the aircraft is controlled to initiate a return-to-home process; wherein the abnormal state includes: the remote control signal of the aircraft being interfered with by a specific jamming device and / or the satellite signal of the aircraft being interfered with by a specific type of interference.

[0019] The method provided in this application controls the aircraft to initiate a return-to-home process when the remote control signal of the aircraft is detected to be interfered with by a specific jamming device and / or the satellite positioning signal is interfered with by a specific type of interference. By subdividing the type of interference, the return-to-home process is triggered only when the interference to the remote control signal is caused by a specific jamming device or the interference to the satellite positioning signal belongs to a specific type of interference. This solves the problem that controlling the aircraft to perform a return-to-home under all types of interference would limit the aircraft's mission execution. It can improve the flexibility of aircraft control and expand the scenarios in which the aircraft can perform missions.

[0020] According to a fifth aspect of this application, a control method for a mobile platform is provided, comprising:

[0021] Obtain the result that the current state of the mobile platform satisfies the abnormal state;

[0022] In response to the current state of the mobile platform satisfying the abnormal state, the mobile platform is controlled to cancel the execution of the task; wherein, the abnormal state includes: the remote control signal of the mobile platform is interfered with by a specific jamming device and / or the satellite positioning signal of the mobile platform is interfered with by a specific type of interference.

[0023] The method provided in this application controls the mobile platform to cancel task execution when interference with the remote control signal of the mobile platform is detected by a specific jamming device and / or interference with the satellite positioning signal of a specific type is detected. By subdividing the interference types, the method triggers the mobile platform to cancel task execution only when the interference to the remote control signal is caused by a specific jamming device or the interference to the satellite positioning signal belongs to a specific type of interference. This solves the problem that controlling the mobile platform to cancel task execution under all types of interference would limit the mobile platform's task execution capabilities, thereby improving the flexibility of mobile platform control and expanding the scenarios in which the mobile platform can perform tasks.

[0024] According to a sixth aspect of this application, a control device for a mobile platform is provided, the control device comprising:

[0025] One or more processors; and

[0026] Memory for storing computer program instructions executable by the processor;

[0027] The one or more processors execute the computer program instructions individually or jointly to perform the methods mentioned in any one of the first to fifth aspects above.

[0028] According to the seventh aspect of this application, an aircraft is provided, comprising:

[0029] One or more processors, and memory for storing a computer program executable by the processors; wherein the one or more processors individually or jointly execute the computer program instructions to perform the following process:

[0030] Obtain the result that the current state of the aircraft satisfies the abnormal state;

[0031] In response to the current state of the aircraft satisfying the abnormal state, the aircraft is controlled to initiate a return-to-home process; wherein the abnormal state includes: the remote control signal of the aircraft being interfered with by a specific jamming device and / or the satellite signal of the aircraft being interfered with by a specific type of interference.

[0032] According to the eighth aspect of this application, an aircraft is provided, comprising:

[0033] The result is obtained that the current state of the aircraft satisfies the abnormal state.

[0034] In response to the current state of the aircraft satisfying the abnormal state, and the aircraft having obtained clearance information, the aircraft is controlled to continue performing the mission without returning to base; wherein, the abnormal state includes: remote control signal interference, satellite positioning signal interference, and / or satellite positioning signal spoofing.

[0035] According to a ninth aspect of this application, a mobile platform is provided, comprising:

[0036] One or more processors, and memory for storing a computer program executable by the processors; wherein the one or more processors individually or jointly execute the computer program instructions to perform the following process:

[0037] Obtain the result that the current state of the mobile platform satisfies the abnormal state;

[0038] In response to the current state of the mobile platform satisfying the abnormal state, the mobile platform is controlled to cancel the execution of the task; wherein, the abnormal state includes: the remote control signal of the mobile platform is interfered with by a specific jamming device and / or the satellite positioning signal of the mobile platform is interfered with by a specific type of interference.

[0039] According to a tenth aspect of this application, a mobile platform is provided, comprising:

[0040] The result of obtaining the current state of the mobile platform satisfying the abnormal state is obtained, wherein whether the current state of the mobile platform satisfies the abnormal state can characterize the signal strength and / or credibility of the mobile platform.

[0041] In response to the current state of the mobile platform satisfying the abnormal state, and the mobile platform having obtained unblocking permission information, the system controls the mobile platform to continue executing the task without canceling the task.

[0042] According to the eleventh aspect of this application, a mobile platform is provided, comprising:

[0043] The result of obtaining the current state of the mobile platform satisfying the abnormal state is obtained, wherein the current state of the mobile platform is related to the working state of the components of the mobile platform;

[0044] In response to the current state of the mobile platform satisfying the abnormal state, and the mobile platform having obtained unblocking permission information, the system controls the mobile platform to continue executing the task without canceling the task, wherein the unblocking permission information was generated before the current state satisfied the abnormal state.

[0045] According to the twelfth aspect of this application, a control device is provided, comprising:

[0046] One or more processors, and memory for storing a computer program executable by the processors; wherein the one or more processors individually or jointly execute the computer program instructions to perform the following process:

[0047] The current state of the aircraft is obtained as a result of an abnormal state, wherein the control device has established a communication connection with the aircraft;

[0048] In response to the current state of the aircraft satisfying the abnormal state, the aircraft is controlled to initiate a return-to-home process; wherein the abnormal state includes: the remote control signal of the aircraft being interfered with by a specific jamming device and / or the satellite signal of the aircraft being interfered with by a specific type of interference.

[0049] According to the thirteenth aspect of this application, a control device is provided, comprising:

[0050] The result is obtained that the current state of the aircraft meets the abnormal state, wherein the control device has established a communication connection with the aircraft;

[0051] In response to the current state of the aircraft satisfying the abnormal state, and the aircraft having obtained clearance information, the aircraft is controlled to continue performing the mission without returning to base; wherein, the abnormal state includes: remote control signal interference, satellite positioning signal interference, and / or satellite positioning signal spoofing.

[0052] According to the fourteenth aspect of this application, a control device is provided, comprising:

[0053] One or more processors, and memory for storing a computer program executable by the processors; wherein the one or more processors individually or jointly execute the computer program instructions to perform the following process:

[0054] The current state of the mobile platform is obtained to meet the result of an abnormal state, wherein the control device has established a communication connection with the mobile platform;

[0055] In response to the current state of the mobile platform satisfying the abnormal state, the mobile platform is controlled to cancel the execution of the task; wherein, the abnormal state includes: the remote control signal of the mobile platform is interfered with by a specific jamming device and / or the satellite positioning signal of the mobile platform is interfered with by a specific type of interference.

[0056] According to the fifteenth aspect of this application, a control device is provided, comprising:

[0057] The result of obtaining whether the current state of the mobile platform meets the abnormal state is obtained, wherein whether the current state of the mobile platform meets the abnormal state can characterize the signal strength and / or reliability of the mobile platform; the control device establishes a communication connection with the mobile platform;

[0058] In response to the current state of the mobile platform satisfying the abnormal state, and the mobile platform having obtained unblocking permission information, the system controls the mobile platform to continue executing the task without canceling the task.

[0059] According to the sixteenth aspect of this application, a control device is provided, comprising:

[0060] The current state of the mobile platform is obtained as meeting the result of an abnormal state, wherein the current state of the mobile platform is related to the working state of the components of the mobile platform; the control device has established a communication connection with the mobile platform;

[0061] In response to the current state of the mobile platform satisfying the abnormal state, and the mobile platform having obtained unblocking permission information, the system controls the mobile platform to continue executing the task without canceling the task, wherein the unblocking permission information was generated before the current state satisfied the abnormal state.

[0062] According to the seventeenth aspect of this application, a control system for an aircraft is provided, comprising:

[0063] The system includes a memory, a communication interface, and one or more processors, wherein the memory is used to store computer programs executable by the processor.

[0064] One or more of the processors are configured to obtain a result indicating that the current state of the aircraft satisfies an abnormal state.

[0065] The communication interface is used to transmit the result that the current state of the aircraft satisfies the abnormal state.

[0066] One or more of the processors are further configured to, in response to the current state of the aircraft satisfying the abnormal state and the aircraft having obtained clearance information, control the aircraft to continue performing the mission without performing a return; wherein the abnormal state includes: remote control signal interference, satellite positioning signal interference, and / or satellite positioning signal spoofing.

[0067] According to the eighteenth aspect of this application, a control system for an aircraft is provided, comprising:

[0068] The system includes a memory, a communication interface, and one or more processors, wherein the memory is used to store computer programs executable by the processor.

[0069] One or more of the processors are configured to obtain a result indicating that the current state of the aircraft satisfies an abnormal state.

[0070] The communication interface is used to transmit the result that the current state of the aircraft satisfies the abnormal state.

[0071] One or more of the processors are further configured to control the aircraft to initiate a return-to-home process in response to the current state of the aircraft satisfying the abnormal state; wherein the abnormal state includes: the remote control signal of the aircraft being interfered with by a specific jamming device and / or the satellite signal of the aircraft being interfered with by a specific type of interference.

[0072] According to the nineteenth aspect of this application, a control system for a mobile platform is provided, comprising:

[0073] The system includes a memory, a communication interface, and one or more processors, wherein the memory is used to store computer programs executable by the processor.

[0074] One or more of the processors are configured to obtain a result that the current state of the mobile platform satisfies an abnormal state, wherein whether the current state of the mobile platform satisfies the abnormal state can characterize the strength and / or reliability of the signal of the mobile platform.

[0075] The communication interface is used to transmit the result that the current state of the mobile platform satisfies the abnormal state.

[0076] One or more of the processors are further configured to, in response to the current state of the mobile platform satisfying the abnormal state and the mobile platform having obtained unblocking permission information, control the mobile platform to continue executing the task without canceling the task.

[0077] According to a twentieth aspect of this application, a control system for a mobile platform is provided, comprising:

[0078] One or more of the processors are configured to obtain a result that the current state of the mobile platform satisfies an abnormal state, wherein the current state of the mobile platform is related to the operating state of the components of the mobile platform;

[0079] The communication interface is used to transmit the result that the current state of the mobile platform meets the abnormal state.

[0080] One or more of the processors are further configured to, in response to the current state of the mobile platform satisfying the abnormal state and the mobile platform having obtained de-encryption permission information, control the mobile platform to continue executing the task without canceling the task, wherein the de-encryption permission information is generated before the current state satisfies the abnormal state.

[0081] According to the twenty-first aspect of this application, a control system for a mobile platform is provided, comprising:

[0082] One or more of the processors are used to obtain the result that the current state of the mobile platform satisfies the abnormal state;

[0083] The communication interface is used to transmit the result that the current state of the mobile platform meets the abnormal state.

[0084] One or more of the processors are further configured to control the mobile platform to cancel the execution of the task in response to the current state of the mobile platform satisfying the abnormal state; wherein the abnormal state includes: the remote control signal being interfered with by a specific jamming device and / or the satellite positioning signal being interfered with by a specific type of interference.

[0085] According to a twenty-second aspect of this application, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed, implements the methods mentioned in any one of the first to fifth aspects above.

[0086] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this application. Attached Figure Description

[0087] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0088] Figure 1 is a schematic diagram of an application scenario of an embodiment of this application.

[0089] Figure 2 is a flowchart of a control method for a mobile platform according to an embodiment of this application.

[0090] Figures 3A, 3B, and 3C are schematic diagrams of the interactive interfaces of different embodiments of this application.

[0091] Figure 4 is a schematic diagram of a mobile platform obtaining an unblocking certificate according to an embodiment of this application.

[0092] Figure 5 is a schematic diagram of the interactive interface of one embodiment of this application.

[0093] Figure 6 is a flowchart of a control method for a mobile platform according to another embodiment of this application.

[0094] Figure 7 is a flowchart of a control method for an aircraft according to an embodiment of this application.

[0095] Figure 8 is a flowchart of a control method for a mobile platform according to another embodiment of this application.

[0096] Figure 9 is a flowchart of a control method for an aircraft according to another embodiment of this application.

[0097] Figure 10 is a schematic diagram of the logic structure of a control device for a mobile platform according to an embodiment of this application.

[0098] Figure 11 is a schematic diagram of the logical structure of an aircraft according to an embodiment of this application.

[0099] Figure 12 is a schematic diagram of the logical structure of a mobile platform according to an embodiment of this application.

[0100] Figure 13 is a schematic diagram of the logic structure of a control device according to an embodiment of this application.

[0101] Figure 14 is a schematic diagram of the logic structure of a control system according to an embodiment of this application. Detailed Implementation

[0102] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0103] Before or during the execution of a task on a mobile platform, its state can be detected to determine if any abnormalities exist. For example, the state of the mobile platform could include the operational status of its components, the status of its signal transmission and reception, etc. In related technologies, if an abnormality is detected in the mobile platform's state, the current task is forcibly canceled. This control method limits the mobile platform's task execution and hinders its flexible control.

[0104] For example, taking the signal status of a mobile platform as an example, related technologies forcibly suspend the current task when an abnormality is detected in the positioning or remote control signal status of the mobile platform. However, there are scenarios where the mobile platform may need to continue performing tasks even with abnormal signal statuses, such as using the mobile platform for inspection to determine the cause of the abnormality. It is evident that current control methods are not flexible enough, limiting the mobile platform's ability to perform tasks in these scenarios.

[0105] Based on this, this application provides a control method for a mobile platform. In scenarios where the state of the mobile platform is abnormal, an unlocking method can be added so that the mobile platform can continue to execute the current task without canceling it. This solves the problem that the mobile platform is restricted in executing tasks in some specific scenarios, making the control of the mobile platform more flexible.

[0106] Figure 1 illustrates an application scenario of one embodiment of this application. Before or during a task, the mobile platform can receive positioning signals from a positioning device (e.g., a satellite) to locate itself. Simultaneously, the mobile platform can communicate with a control device. For example, it can receive remote control signals sent by a user through the control device to control the platform. Furthermore, the mobile platform can send image transmission signals to the control device, transmitting its collected image data for display to the user. Before or during a task, the operational status of the mobile platform's components can be monitored in real time, as can the status of the aforementioned signals to determine if any abnormalities exist, and the mobile platform can be controlled based on the monitoring results.

[0107] The mobile platform in the embodiments of this application may be at least one of aircraft, vehicles, ships and mobile robots, but is not limited thereto.

[0108] Aircraft can include rotorcraft, fixed-wing aircraft, or hybrid fixed-wing / rotorcraft. Rotorcraft can be single-rotor, dual-rotor, tri-rotor, quadcopter, hexacopter, octocopter, decacopter, or dodeccopter. Aircraft can include, but are not limited to, manned aircraft, logistics aircraft, aerial photography aircraft, agricultural plant protection aircraft, and industry rescue aircraft. The above are merely illustrative examples, and this application does not specifically limit the type of aircraft. Aircraft include unmanned aerial vehicles (UAVs) and manned aircraft; aircraft can be used for tasks such as aerial photography, aerial reconnaissance, geographic mapping, environmental monitoring, and security patrol.

[0109] The control device in this application embodiment can be any type of device that is communicatively connected to the mobile platform and used to control the mobile platform. For example, it can be a remote control, mobile phone, tablet, computer, wearable device (such as head-mounted glasses, watch, bracelet, etc.) that is compatible with the mobile platform. This application embodiment does not impose any restrictions.

[0110] The positioning device in this application embodiment can be any type of device that provides positioning signals to a mobile platform, such as satellite, RTK (Real-time kinematic) positioning device, etc.

[0111] The control methods for the mobile platform provided in the embodiments of this application can be executed by the mobile platform or by the aforementioned control device. Alternatively, some steps of the method can be executed by the mobile platform and some steps by the control device. The specific methods can be flexibly set based on actual needs, and the embodiments of this application do not impose any limitations.

[0112] In related technologies, if the signal of a mobile platform is determined to be interfered with or spoofed, the mobile platform is controlled to cancel the current task and return to the return point. This control method may limit the drone's task execution in the aforementioned specific scenarios. For example, in some scenarios, users may want the mobile platform to perform tasks in situations where the signal is interfered with or spoofed. For instance, taking a drone as the mobile platform, in some scenarios, some criminals may use jamming guns or other jamming devices to interfere with the signals of devices in a target area, or send decoy positioning signals to lure devices in that target area. In such scenarios, a drone can be used to patrol the target area to find the source of interference. When the drone moves into the target area, due to the interference from the jamming device, the drone's signal strength may be weak, or the positioning signal received by the drone may be a decoy signal. These conditions all constitute abnormal signal states for the drone.

[0113] Based on this, one embodiment of this application provides a control method for a mobile platform, as shown in FIG2, which may include the following steps:

[0114] S202. Obtain the result that the current state of the mobile platform satisfies the abnormal state, wherein whether the current state of the mobile platform satisfies the abnormal state can characterize the strength and / or credibility of the signal of the mobile platform.

[0115] S204. In response to the current state of the mobile platform meeting the abnormal state and the mobile platform having obtained the unblocking permission information, control the mobile platform to continue executing the task without canceling the task.

[0116] This application, by adding a de-encryption method, allows a mobile platform to continue executing tasks without canceling them, provided that the signal state is abnormal and the mobile platform has obtained de-encryption permission information. This solves the problem of limited task execution by mobile platforms under abnormal conditions, improves the flexibility of mobile platform control, and expands the scenarios in which mobile platforms can perform tasks.

[0117] In step S202, the result of whether the current state of the mobile platform meets the abnormal state can be obtained. Whether the current state of the mobile platform meets the abnormal state can characterize the signal strength and / or reliability of the mobile platform. For example, when the signal strength of the mobile platform is lower than a certain strength threshold, or the reliability of the signal of the mobile platform is lower than a certain reliability threshold, the current state of the mobile platform can be considered to meet the abnormal state. For example, interference with the communication signal of the mobile platform can affect the strength of the communication signal, interference with the positioning signal of the mobile platform can affect the strength of the positioning signal, and deception of the positioning signal can affect the reliability or authenticity of the positioning signal.

[0118] For example, if the communication signal strength of a mobile platform is weak, below a certain strength threshold, it indicates that its signal may be interfered with. In this case, its current state can be considered abnormal. Or, if the reliability of the positioning signal of a mobile platform is low, for example, below a certain reliability threshold, its positioning signal may be spoofed. In this case, its current state can also be considered abnormal.

[0119] In step S204, when the current state of the mobile platform meets the aforementioned abnormal state, it can be determined whether the mobile platform has obtained unblocking permission information. If the mobile platform has obtained unblocking permission information, it can be controlled to continue executing the task without canceling it. Typically, to ensure the operational safety of the mobile platform, when an abnormal signal state is detected, the mobile platform can be controlled to cancel the current task and return to a preset location (e.g., a return point). However, there are scenarios where the mobile platform needs to continue executing the task even when the signal state is abnormal. To meet the needs of these scenarios, an unblocking method can be added to enable the mobile platform to continue executing the task in an abnormal state. For example, unblocking permission information can be applied for for the mobile platform. This unblocking permission information is used to instruct the mobile platform to continue executing the task even in the aforementioned abnormal state. This unblocking permission information can be obtained in advance before the mobile platform starts the task, or it can be temporarily obtained after determining that the current state of the mobile platform meets the aforementioned abnormal state. For example, in some scenarios, if the owner of a mobile platform desires that the mobile platform have the permission to perform tasks under the aforementioned abnormal state, they can apply for the unblocking permission information for the mobile platform in advance from the relevant unblocking approval platform. In other scenarios, the unblocking permission information can be applied for temporarily from the relevant unblocking approval platform after it has been determined that the mobile platform meets the aforementioned abnormal state. The timing of obtaining the unblocking permission information can be flexibly set based on actual needs, and this application embodiment does not impose any restrictions.

[0120] In some embodiments, the current state of the mobile platform includes at least one of the following: the signal state of the communication device of the mobile platform, and the signal state of the positioning device of the mobile platform. The communication device can be any device that implements communication functions within the mobile platform. For example, the communication device can be a mobile network communication module, such as a 4G module, a 5G module, etc. The communication module can also be a wireless communication module, such as a WiFi module, a Bluetooth module, etc.

[0121] The positioning device can be any device that enables positioning within a mobile platform. This positioning device can receive positioning signals from other positioning devices to locate the mobile platform based on these signals. For example, the positioning device could be a GPS module for receiving satellite positioning signals transmitted by satellites, an RTK module for receiving RTK signals transmitted by RTK positioning devices, and so on.

[0122] In some embodiments, the signals of the mobile platform include at least one of the following: signals from a communication device in the mobile platform or signals from a positioning device in the mobile platform.

[0123] In some embodiments, the signals of the communication device include at least one of the following: signals received by the communication device and signals transmitted by the communication device.

[0124] In some embodiments, the signals received by the communication device include remote control signals. For example, a mobile platform can communicate with a control device through the communication device, and the control device can send control signals to the communication device to control the mobile platform. Therefore, the signals received by the communication device can be remote control signals.

[0125] In some embodiments, the signals transmitted by the communication device include image transmission signals. For example, a mobile platform can use the communication device to send collected data (including but not limited to image data) to a control device so that the control device can display the image data; therefore, the signals transmitted by the communication device can be image transmission signals.

[0126] In some embodiments, the signal of the positioning device includes a positioning signal received by the positioning device. For example, the mobile platform can receive satellite positioning signals from satellites through the positioning device, or the mobile platform can receive RTK signals from RTK positioning equipment through the positioning device. Therefore, the signal of the positioning device can be a signal received by the positioning device of the mobile platform from various positioning devices.

[0127] In some embodiments, the current state of the mobile platform does not include its current location. That is, the current state of the mobile platform in this embodiment satisfies the condition that the abnormal state does not include the situation where the current location of the mobile platform is within certain restricted areas. These restricted areas refer to areas where movement of the mobile platform is prohibited. For example, taking a drone as an example, the restricted area could be a no-fly zone for the drone. In this embodiment, the current state of the drone satisfies the condition that the abnormal state does not include the situation where the current location of the drone is within a no-fly zone.

[0128] In some embodiments, the abnormal state of the mobile platform includes: an abnormal state of the signal of the communication device of the mobile platform or an abnormal state of the signal of the positioning device of the mobile platform.

[0129] In some embodiments, an abnormal state of the positioning device signal includes: the positioning device signal being interfered with or spoofed.

[0130] The degree of interference with the positioning signal can be characterized by the strength or signal-to-noise ratio (SNR) of the signal received by the positioning device, while whether the positioning signal is a decoy signal can be characterized by the reliability or authenticity of the positioning signal received by the positioning device. Generally speaking, the interference signal received by the positioning signal is not the satellite positioning signal itself, while the decoy signal is usually the satellite positioning signal. Furthermore, interference signals affect the SNR of the satellite positioning signal received by the mobile platform from the satellite, but do not affect the reliability of the satellite positioning signal received by the mobile platform from the satellite. On the other hand, decoy signals affect both the SNR and the reliability of the satellite positioning signal received by the mobile platform from the satellite.

[0131] In some embodiments, the abnormal state of the communication device's signal may be that the communication device's signal is interfered with, malfunctions, or is interrupted. Interference with the communication device's signal refers to the communication device's signal being affected by interference from other devices in the surrounding environment, resulting in a weaker signal. For example, other devices in the environment may also be transmitting signals using the same frequency band, thus interfering with the signal transmitted by the communication device and causing a weaker signal.

[0132] An abnormal signal in a communication device refers to an anomaly in the signal sent or received by the communication device, resulting in the signal being unresolvable.

[0133] A signal interruption in a communication device refers to a situation where the communication device is unable to receive signals from the control device, and is also unable to send signals to the control device; in other words, a disconnection occurs between the two. For example, in some scenarios, the communication device's signal may be blocked by shielding devices, causing a signal interruption between it and the control device.

[0134] In some embodiments, the signal of the communication device may be a remote control signal or an image transmission signal.

[0135] In some embodiments, the current state of the mobile platform is determined to be abnormal if its communication or positioning signals are subjected to various types of interference. In other embodiments, the current state of the mobile platform is determined to be abnormal only if its communication or positioning signals are subjected to specific types of interference.

[0136] For example, considering scenarios involving the control of mobile platforms, normal control logic would involve forcibly canceling the task only after the mobile platform's signal is subjected to certain types of interference, rather than controlling the mobile platform to cancel the current task simply because its signal is interfered with. Therefore, the aforementioned scheme of allowing the platform to continue executing tasks by de-enabling can be implemented only when the mobile platform's signal is subjected to specific types of interference.

[0137] In some embodiments, the interference to the remote control signal may be due to a specific type of interference. A specific type of interference may refer to the intensity of the interference meeting certain conditions, or the type of interference meeting certain conditions; the specific type can be set based on actual needs.

[0138] For example, in scenarios where the remote control signal of a mobile platform is subject to severe interference, the platform may be unable to parse the remote control signal sent by the control device, resulting in the user being unable to control the platform. This poses a significant security risk. To address this scenario and ensure the security of the mobile platform, the preset control logic often forces the platform to cancel the current task and return to a preset location. Therefore, if the user wants the mobile platform to still have the authority to execute tasks in scenarios with severe interference, this can be achieved by adding a deactivation mechanism to allow the platform to continue executing tasks in such situations.

[0139] Therefore, in some embodiments, the remote control signal being subjected to a specific type of interference may be that the remote control signal is subjected to strong interference, wherein strong interference may be interference with an interference level greater than a certain threshold.

[0140] Furthermore, in some scenarios, criminals may use jamming devices to maliciously interfere with mobile platforms. For example, they can set up specific jamming devices in a target area to interfere with or block the wireless communication of devices within that area. These jamming devices emit strong electromagnetic signals to interfere with the wireless communication systems of devices in the target area, rendering them unable to function properly. To ensure the security of mobile platforms in these scenarios, the preset control logic often forces the platform to cancel its current task and return to a preset location. However, for certain mobile platforms used for specific purposes (such as those used by public security agencies for patrols), it may be necessary to patrol within the target area to identify sources of interference. Therefore, in such scenarios, de-enabling can be implemented to allow the mobile platform to continue performing its tasks.

[0141] Therefore, in some embodiments, the remote control signal being subjected to a specific type of interference may also mean that the remote control signal is being interfered with by a specific interference device.

[0142] The specific jamming device can be any type of device with the function of jamming or shielding signals, and this application embodiment does not impose any limitations. For example, in some embodiments, the specific jamming device can be a jamming gun.

[0143] Considering that interference, whether caused by strong interference or specific jamming devices, exhibits certain characteristics in terms of signal strength, coverage, and duration, in some embodiments, this specific type of interference can be identified based on the signal strength, the frequency band it covers, and / or its duration. For example, interference of a severe degree, or interference caused by jamming devices, often exhibits characteristics such as high intensity, wide frequency band coverage, or long duration. Therefore, a specific type of interference can be identified based on one or more of the above three conditions.

[0144] In some embodiments, if the strength of the interference signal received by the mobile platform is greater than or equal to a first preset strength threshold, the frequency band covered by the interference signal received by the mobile platform is the full frequency range of a specified frequency band, and / or the duration of the interference signal received by the mobile platform is greater than or equal to a first preset duration, then its remote control signal is considered to be subject to a specific type of interference. The first preset strength threshold and the first preset duration can be flexibly set based on actual needs, and the specified frequency band can be the frequency band in which the communication device in the mobile platform operates. For example, the communication device of the mobile platform typically operates in the 2.4 GHz and / or 5.8 GHz frequency bands; therefore, the specified frequency band can be the 2.4 GHz and / or 5.8 GHz frequency bands.

[0145] For example, the interference signals received by the mobile platform can be sorted from strongest to weakest. It can then be determined whether the strength of the interference signal at a certain percentile (e.g., 80%) exceeds a preset strength threshold. If it does, the interference received by the mobile platform is considered to be of a specific type. In this way, it is possible to quickly determine whether the remote control signal of the mobile platform is subject to a specific type of interference.

[0146] In some embodiments, if the interference signal does not meet the above three conditions, the mobile platform can identify the interference signal as weak interference and will not initiate the return-to-home process. Therefore, this application can implement different strategies based on the type of interference signal. For specific types of strong interference, the mobile platform will be triggered to initiate the return-to-home process, while for weak interference or non-specific types of interference, the mobile platform will not be triggered to initiate the return-to-home process.

[0147] In some embodiments, the abnormal state of the positioning device's signal may be due to interference or deception of the positioning device's signal.

[0148] In some embodiments, the signal from the positioning device may be a satellite positioning signal. For example, it may be a positioning signal received by the positioning device from a satellite.

[0149] In some embodiments, the interference to the satellite positioning signal can be a specific type of interference. Similarly, a specific type of interference can refer to the intensity of the interference meeting certain conditions, or the type of interference meeting certain conditions, which can be set based on actual needs.

[0150] For example, if the positioning signal of a mobile platform is severely interfered with during movement, the positioning signal may become unusable, causing the mobile platform to lose guidance, resulting in loss or even failure. To address this scenario and ensure the safety of the mobile platform, the preset control logic often forces the platform to cancel the current task and return to a preset location. Therefore, if the user wants the mobile platform to still have the authority to execute tasks in scenarios with severe interference, this can be achieved by adding a deactivation mechanism.

[0151] Therefore, in some embodiments, the positioning signal being subjected to a specific type of interference can be that the positioning signal is subjected to strong interference, wherein strong interference can be interference with an interference level greater than a certain threshold.

[0152] Similarly, in scenarios where malicious actors use jamming devices to interfere with mobile platforms, the mobile platform may need to patrol the target area to locate the source of the interference. Therefore, it is also possible to grant the mobile platform permission to perform tasks in such scenarios by unblocking it.

[0153] Therefore, in some embodiments, the location signal being subjected to a specific type of interference may also mean that the location signal is being interfered with by a specific interference device.

[0154] The specific jamming device can be any type of device with the function of jamming or shielding signals, and this application embodiment does not impose any limitations. For example, in some embodiments, the specific jamming device can be a jamming gun.

[0155] Similarly, considering that whether the interference is caused by strong interference or interference from specific jamming devices, the strength, coverage, or duration of the interference signal all meet certain characteristics, in some embodiments, this specific type of interference can be identified based on the strength of the interference signal received by the mobile platform, the frequency band range covered by the interference signal received by the mobile platform, and / or the duration of the interference signal received by the mobile platform. For example, for interference with a more severe degree, or interference caused by jamming devices, the interference signal often has characteristics such as high strength, wide frequency band coverage, or long duration. Therefore, specific types of interference can be identified based on the above three conditions.

[0156] In some embodiments, if the strength of the interference signal received by the mobile platform is greater than or equal to a second preset strength threshold, the frequency band covered by the interference signal received by the mobile platform is the full frequency range of a specified frequency band, and / or the duration of the interference signal received by the mobile platform is greater than or equal to a second preset duration, then it is determined that the satellite positioning signal of the mobile platform is subject to a specific type of interference. The second preset strength threshold and the second preset duration can be flexibly set based on actual needs, and the specified frequency band can be the frequency band in which the positioning device in the mobile platform operates. For example, the positioning device of the mobile platform typically operates in the 1.2 GHz and / or 1.5 GHz frequency bands; therefore, the specified frequency band can be the 1.2 GHz and / or 1.5 GHz frequency bands.

[0157] In some embodiments, if the interference signal does not meet the above three conditions, the mobile platform can identify the interference signal as weak interference and will not initiate the return-to-home process. Therefore, this application can implement different strategies based on the type of interference signal. For specific types of strong interference, the mobile platform will be triggered to initiate the return-to-home process, while for weak interference or non-specific types of interference, the mobile platform will not be triggered to initiate the return-to-home process.

[0158] Location signal spoofing (also known as "GPS spoofing") is a method of misleading or deceiving a target device by forging or interfering with satellite positioning signals. Specifically, attackers send forged signals to the target device, altering its perception of location, time, or navigation information, thereby affecting the device's normal function. For example, attackers can send forged satellite positioning signals with frequencies and characteristics similar to genuine GPS signals, causing the target device to mistakenly believe they originate from satellites. When the target device receives these forged signals, it calculates incorrect location information based on them. These forged signals can be manipulated by adjusting their transmission time and frequency to induce the target device to believe its location has changed, or even to move to a completely different location. Considering that malicious spoofing can easily lead to the loss of mobile platforms and poses a significant security risk, to ensure the security of mobile platforms in spoofing scenarios, the preset control logic in mobile platforms often forces them to cancel the current task and return to a preset location. However, for certain mobile platforms used for specific purposes (such as mobile platforms used by public security organs for patrols), it may be necessary to patrol in such scenarios to find the source of deceptive signals. Therefore, it is also possible to enable mobile platforms to perform tasks in such scenarios by lifting restrictions.

[0159] Therefore, in some embodiments, the abnormal state of the positioning device's signal may be due to the positioning device's signal being spoofed.

[0160] Given that spoofed signals are typically strong and usually originate from a specific source, in some embodiments, a location signal can be identified as a spoofed signal by determining the strength and / or direction of the location signal received by the mobile platform.

[0161] For example, in some embodiments, if the strength of the positioning signal received by the mobile platform is greater than or equal to a third preset strength threshold and / or the transmission direction of the positioning signal received by the mobile platform is a fixed direction, then the received positioning signal can be considered a decoy signal. The third preset strength threshold can be set based on actual needs.

[0162] In some embodiments, the operation of detecting whether the current state of the mobile platform meets the abnormal state can be performed by the mobile platform. For example, before or during the execution of a task, the mobile platform can detect whether its current state meets the above-mentioned abnormal state. If it does, it determines whether it has obtained the unblocking permission information. If it determines that it has obtained the unblocking permission information, it controls the mobile platform to continue executing the task without canceling the task.

[0163] In some embodiments, the operation of detecting whether the current state of the mobile platform meets the abnormal state can also be performed by the control device. For example, before or during the execution of a task, the mobile platform can send the working state parameters of its components or the signal state parameters of its transmitting and receiving signals to the control device. The control device can then detect whether the current state of the mobile platform meets the abnormal state based on the working state parameters and signal state parameters, and then send the detection result to the mobile platform.

[0164] In some embodiments, if the current state of the mobile platform meets the abnormal state and the mobile platform has not obtained the unblocking permission information, the mobile platform can be controlled to cancel the execution of the task.

[0165] The control method for the mobile platform provided in this application can be executed during the execution of a task by the mobile platform, or it can be executed before the mobile platform executes a task.

[0166] For example, in some embodiments, the method can be executed during the execution of a task by the mobile platform. If it is determined that the current state of the mobile platform meets the abnormal state and the mobile platform has not obtained the unblocking permission information, the method controls the mobile platform to stop executing the task.

[0167] In some embodiments, controlling the mobile platform to stop performing a task can be controlling the mobile platform to stop moving.

[0168] In some embodiments, the movable platform may be an aircraft, and controlling the aircraft to stop moving may be controlling the aircraft to hover.

[0169] In some embodiments, controlling the mobile platform to stop performing a task can be achieved by controlling the mobile platform to initiate a return-to-home process. This can be done by directly controlling the mobile platform to return to home without providing any prompts to the user, or by first prompting the user to return to home before controlling the mobile platform to perform the return-to-home process.

[0170] In some embodiments, controlling the mobile platform to initiate the return-to-home process can be done by directly controlling the mobile platform to perform the return-to-home operation. For example, the mobile platform can be controlled to return from its current location to the return-to-home point.

[0171] In some embodiments, the abnormal state may be due to interference with or spoofing of the satellite positioning signal. In such scenarios, since satellite positioning signals are unreliable, using satellite positioning poses significant security risks. Therefore, in this case, when controlling the mobile platform to return from its current location to the return point, the mobile platform can be controlled to use a positioning method other than satellite positioning to return to the return point.

[0172] In some embodiments, other positioning methods may be one or more of the following: visual positioning, infrared positioning, Wi-Fi positioning, ultrasonic positioning, and positioning based on the movement parameters of a mobile platform.

[0173] In some embodiments, the mobile platform can be an aircraft, and the movement parameter can be a flight parameter, meaning that positioning can be performed using the aircraft's flight parameters during flight. For example, positioning can be based on the aircraft's attitude, velocity, or acceleration.

[0174] In some embodiments, this abnormal state may be due to interference with the satellite positioning signal. If the interference is not significant, for example, below a certain threshold, satellite positioning can continue to be used for positioning. In this case, to increase the strength of the received satellite positioning signal, the mobile platform can be controlled to increase the receiving power of the satellite positioning signal, and then satellite positioning can continue to be used to control the mobile platform to return from its current location to the return point.

[0175] In some embodiments, to improve user experience, controlling the mobile platform to initiate the return-to-home process can involve first outputting a first prompt message. This first prompt message informs the user of the time required to trigger the mobile platform to perform the return-to-home operation and / or displays a countdown timer. Upon receiving confirmation from the user regarding the first prompt message or after the countdown timer expires, the mobile platform is then controlled to perform the return-to-home operation. For example, in some scenarios, as shown in Figure 3A, before performing the return-to-home operation, a prompt message can be output asking the user whether to perform the return-to-home operation and displaying a return-to-home confirmation control. If the user confirms the return-to-home operation via the confirmation control, the return-to-home operation is performed. That is, if the current state of the mobile platform meets the abnormal state and no unblocking permission information has been obtained, the user can choose whether to perform the return-to-home operation. In some scenarios, as shown in Figure 3B, to ensure the security of the mobile platform, the mobile platform can be forced to perform the return-to-home operation. To inform the user in advance of the return-to-home operation, the prompt message can be a countdown timer, indicating how long after the operation will be performed. For example, informing the user that the return-to-home operation will be performed in 5 seconds. Of course, in some scenarios, as shown in Figure 3C, a countdown and a return-to-home confirmation control can be displayed simultaneously. If the user touches the return-to-home confirmation control before the countdown ends, the return-to-home will be triggered directly. If the user does not touch the return-to-home confirmation control, the return-to-home will be triggered after the countdown ends.

[0176] To prevent the movable platform from colliding with surrounding obstacles before the countdown ends, users can manually adjust the position or direction of movement of the movable platform during the countdown to improve its safety. Therefore, in some embodiments, during the output of the first prompt message, a user-triggered control command can also be received, and the movable platform can be controlled to adjust its movement parameters based on the control command.

[0177] In some embodiments, the movement parameter may be the position, direction of movement, speed of movement, and / or posture of the movable platform.

[0178] In some embodiments, when outputting the first prompt information, the first prompt information can be output through the user interface on the mobile platform, or through the user interface on the control device of the mobile platform.

[0179] In some embodiments, the user interface may be a display, a speaker, or an indicator light. For example, the first prompt information may be text information displayed on the interactive interface, voice prompt information, or the illumination status information of an indicator light on a mobile platform or control device.

[0180] In some embodiments, the method can be executed before the mobile platform performs the task. For example, before the mobile platform performs the task, if it is determined that the current state of the mobile platform meets the abnormal state and the mobile platform has not obtained the unblocking permission information, the method controls the mobile platform not to start the task.

[0181] In some embodiments, the task may be a task that moves from an initial position.

[0182] In some embodiments, the mobile platform includes an aircraft, and the mission includes takeoff.

[0183] In some embodiments, in response to the current state of the mobile platform satisfying an abnormal state and the mobile platform having obtained unblocking permission information, the operation to control the mobile platform to continue executing the task without canceling the task can be performed during the execution of the task by the mobile platform.

[0184] In some embodiments, the task may be a task performed by the mobile platform when it is not in its initial location.

[0185] In some embodiments, the mobile platform can be an aircraft, and the task can be a mission performed by the aircraft in the air. For example, the task can be a surveying mission, an inspection mission, a seeding mission, a spraying mission, a cargo transportation mission, and so on.

[0186] In some embodiments, in response to the current state of the mobile platform satisfying an abnormal state and the mobile platform having obtained unblocking permission information, the operation to control the mobile platform to continue executing the task without canceling the task can be performed before the mobile platform executes the task.

[0187] In some embodiments, the task may be a task that moves from an initial position.

[0188] In some embodiments, the mobile platform may be an aircraft, and the mission may be takeoff.

[0189] In some embodiments, the abnormal state may be due to interference with or spoofing of the satellite positioning signal. In such scenarios, since satellite positioning signals are unreliable, using satellite positioning poses significant security risks. Therefore, in this situation, while controlling the mobile platform to continue performing its task, it can be controlled to use a positioning method other than satellite positioning to maintain its position and ensure the platform continues to perform its task.

[0190] In some embodiments, other positioning methods may be one or more of the following: visual positioning, infrared positioning, Wi-Fi positioning, ultrasonic positioning, and positioning based on the movement parameters of a mobile platform.

[0191] In some embodiments, the mobile platform can be an aircraft, and the movement parameter can be a flight parameter, meaning that the aircraft's flight parameters can be used for positioning. For example, positioning can be achieved using parameters such as the aircraft's attitude, speed, and acceleration.

[0192] In some embodiments, this abnormal state may be due to interference with the satellite positioning signal. If the interference is not significant, for example, below a certain threshold, satellite positioning can continue to be used for positioning. In this case, to increase the strength of the received satellite positioning signal, the mobile platform can be controlled to increase the receiving power of the satellite positioning signal, and then satellite positioning can continue to be used to control the mobile platform to perform tasks.

[0193] In some embodiments, the de-encryption permission information may be obtained before the mobile platform initiates the task. For example, when the mobile platform leaves the factory, its built-in control logic may control the mobile platform to cancel the task execution if it is determined that the current state of the mobile platform meets the above-mentioned abnormal state. If the owner of the mobile platform wants the mobile platform to continue executing the task even in the above-mentioned abnormal state, it can apply for de-encryption permission from the relevant de-encryption approval platform.

[0194] In some embodiments, the unblocking license information can be obtained from the control device of the mobile platform or from an unblocking approval platform used to issue unblocking license information. For example, as shown in Figure 4, the unblocking license information can be an unblocking license certificate. The owner of the mobile platform can initiate a request for the issuance of an unblocking license certificate to the relevant unblocking approval platform through the control device or personal terminal. The request can carry the device identifier of the mobile platform. After receiving the request, if the unblocking approval platform determines that the mobile platform meets the conditions for performing tasks under the aforementioned abnormal state, it can issue an unblocking license certificate to the mobile platform. The unblocking license certificate can be sent to the control device of the mobile platform, and then sent to the mobile platform by the control device. Alternatively, the unblocking license certificate can also be sent directly to the mobile platform, and the mobile platform can store the unblocking license certificate.

[0195] In some embodiments, the unblocking license information is issued by a specific person, who is a user who does not control the mobile platform. To ensure the authority of the unblocking license information, it is typically issued by a third party, i.e., by a person who is not the controller of the mobile platform.

[0196] In some embodiments, in order to inform the user that the mobile platform is currently in an abnormal state, a prompt may be given to the user. For example, when it is determined that the current state of the mobile platform meets the abnormal state, a second prompt message may be output, wherein the second prompt message is used to indicate that the current state of the mobile platform meets the abnormal state.

[0197] In some embodiments, when outputting the second prompt information, the second prompt information can be output through the user interface on the mobile platform, or it can also be output through the user interface on the control device of the mobile platform.

[0198] In some embodiments, the user interface may be a display, a speaker, or an indicator light. For example, the second prompt information may be text information displayed on the interactive interface, voice prompt information, or illumination status information of an indicator light on a mobile platform or control device.

[0199] For example, as shown in Figure 5, when strong interference or deception is detected in the satellite positioning signal, a prompt message can be displayed in the interactive interface of the control device of the mobile platform to inform the user that the signal status of the mobile platform is abnormal.

[0200] In some embodiments, if it is determined that the current state of the mobile platform does not meet the abnormal state requirements, the mobile platform is controlled to continue executing the task.

[0201] Furthermore, another embodiment of this application provides a mobile platform control method, as shown in FIG6, which may include the following steps:

[0202] S602. Obtain the result that the current state of the mobile platform satisfies the abnormal state, wherein the current state of the mobile platform is related to the working state of the components of the mobile platform.

[0203] S604. In response to the current state of the mobile platform satisfying the abnormal state and the mobile platform having obtained the de-enforcement permission information, control the mobile platform to continue executing the task without canceling the task, wherein the de-enforcement permission information was generated before the current state satisfies the abnormal state.

[0204] This embodiment, by adding a de-encryption method, allows the mobile platform to continue executing tasks without canceling them, provided that the state of its components meets an abnormal condition and the mobile platform has obtained de-encryption permission information. This solves the problem of limited task execution by the mobile platform in abnormal states, improves the control flexibility of the mobile platform, and expands the scenarios in which the mobile platform can perform tasks. The difference between this embodiment and the embodiment shown in Figure 2 is that the components of the mobile platform in this embodiment include not only the communication device and positioning device, but also a battery. Furthermore, the abnormal state in this embodiment, besides affecting the signal strength and / or reliability of the mobile platform, may also include an abnormal state of the battery, such as a battery charge level below a threshold. In addition, the de-encryption permission information in this embodiment is generated before the current state meets the abnormal condition. Content identical to that in Figure 2 but not mentioned in this application can be referred to the relevant descriptions in the method embodiment shown in Figure 2, and will not be repeated here.

[0205] In step S602, the result that the current state of the mobile platform meets the abnormal state can be obtained. The current state of the mobile platform is related to the working state of its constituent components. These constituent components can be various functional components on the mobile platform, such as batteries, communication devices, positioning devices, etc.

[0206] When the operating state of the components of a mobile platform meets preset conditions, the current state of the mobile platform can be considered an abnormal state. These preset conditions can be flexibly set based on the type of component. For example, if the component is a battery, when the battery power is below a certain level, the mobile platform can be considered to be in an abnormal state. Alternatively, if the component is a communication device, when the signal state of the communication device meets preset conditions, such as the signal strength or reliability being below a certain threshold, the current state of the mobile platform can be considered to be in an abnormal state. To allow the mobile platform to perform tasks even in these abnormal states, de-encryption permission information can be obtained in advance. That is, de-encryption permission information is applied for for the mobile platform before the abnormal state occurs and stored on the mobile platform. This de-encryption permission information is used to instruct the mobile platform to continue performing tasks even in the abnormal state. In step S604, if it is determined that the current state of the mobile platform meets the above-mentioned abnormal state and the mobile platform has obtained de-encryption permission information, the mobile platform can be controlled to continue performing tasks without canceling the tasks.

[0207] In some embodiments, the operating state of the components of the mobile platform includes at least one of the following: the operating state of the communication device in the mobile platform, the operating state of the positioning device in the mobile platform, or the operating state of the battery in the mobile platform.

[0208] The communication device can be any device that enables communication functions within a mobile platform. For example, it can be a mobile network communication module, such as a 4G module or a 5G module. It can also be a wireless communication module, such as a WiFi module or a Bluetooth module.

[0209] The positioning device can be any device that enables positioning within a mobile platform. This positioning device can receive positioning signals from other positioning devices to locate the mobile platform based on these signals. For example, the positioning device could be a GPS module for receiving satellite positioning signals transmitted by satellites, an RTK module for receiving RTK signals transmitted by RTK positioning devices, and so on.

[0210] In some embodiments, the operating state of the communication device can be its signal strength. For example, due to the influence of other devices in the environment, the communication signal of the mobile platform may be interfered with to varying degrees, resulting in a lower communication signal strength. Typically, to ensure the security of the mobile platform, when its communication signal is interfered with, the preset control logic in the mobile platform may force the current task to be canceled. To allow the mobile platform to continue executing tasks even when its communication signal is interfered with, a de-enabling mechanism can be added. If interference with the mobile platform's communication signal is detected and de-enabling permission information has been obtained, the task can continue to execute without cancellation.

[0211] Considering that the signals of the communication device in the mobile platform include uplink signals (i.e., signals received by the communication device) and downlink signals (i.e. signals transmitted by the communication device), and that the interference level of the communication device's signals can be characterized by the signal strength, in some embodiments, the operating state of the communication device includes at least one of the following: the strength of the signal received by the communication device and the strength of the signal transmitted by the communication device.

[0212] In some embodiments, the signals received by the communication device include remote control signals.

[0213] In some embodiments, the signals transmitted by the communication device include image transmission signals.

[0214] Location signals received by mobile platforms via positioning devices may be weakened due to interference from other devices in the environment. Alternatively, in some scenarios, malicious actors may send false location signals to the mobile platform to lure it to a designated location. Interference or spoofing of the location signal can cause the mobile platform to lose its direction, leading to loss or even failure. To ensure the security of mobile platforms, the pre-set control logic typically forces them to cancel the current task when their location signal is interfered with or spoofed. To allow the mobile platform to continue executing tasks in such scenarios, a decryption mechanism can be added. This would allow the task to continue execution without cancellation if interference or spoofing is detected and decryption permission has been obtained.

[0215] The degree of interference to the positioning signal can be characterized by the strength of the signal received by the positioning device, and whether the positioning signal is a decoy signal can be characterized by the reliability of the positioning signal received by the positioning device. Therefore, in some embodiments, the working state of the positioning device includes at least one of the following: the strength of the signal received by the positioning device and the reliability of the signal received by the positioning device.

[0216] In some embodiments, the battery's operating state includes its current battery level. In related technologies, when the current battery level is detected to be below a certain threshold, the mobile platform is controlled to cancel the currently executing task and return to a preset position. However, there are scenarios where the mobile platform may need to continue executing tasks even with low battery levels. Therefore, for such scenarios, adding deactivation information can also be used to allow the mobile platform to continue executing tasks without canceling them when the battery is low. The specific implementation details of the above methods can be found in the descriptions in the above embodiments, and will not be repeated here.

[0217] In related technologies, when an abnormal situation is detected, such as interference with the remote control signal, interference with the positioning signal, or spoofing of the positioning signal, the aircraft will be forced to return to its home position. This method will limit the aircraft's mission execution and is not conducive to the flexible control of the aircraft.

[0218] Based on this, one embodiment of this application provides a control method for an aircraft, as shown in Figure 7. The method may include the following steps:

[0219] S702, Obtain the result that the current state of the aircraft satisfies the abnormal state;

[0220] In step S702, the result that the current state of the aircraft meets the abnormal state can be obtained.

[0221] S704. In response to the current state of the aircraft satisfying an abnormal state and the aircraft having obtained clearance information, control the aircraft to continue performing the mission without performing a return to base; wherein, the abnormal state includes: the remote control signal being interfered with, the satellite positioning signal being interfered with, and / or the satellite positioning signal being spoofed.

[0222] In step S704, if it is determined that the current state of the aircraft meets the abnormal condition and the aircraft has obtained the clearance information, then the aircraft is controlled to continue performing the mission without returning to base. The abnormal state includes interference with the aircraft's remote control signal, interference with the aircraft's satellite positioning signal, and / or spoofing of the aircraft's satellite positioning signal.

[0223] The specific implementation details of the above method can be found in the description of the above embodiments, and will not be repeated here.

[0224] This application embodiment, by adding a method of decryption, allows the aircraft to perform tasks in some scenarios where there is interference or deception, solving the problem of limited aircraft task performance under abnormal conditions, improving the flexibility of aircraft control, and expanding the scenarios in which the aircraft can perform tasks.

[0225] In related technologies, when interference with the remote control signal or positioning signal of a mobile platform is detected, a forced return to home operation is performed. This method does not distinguish the type of interference in detail, which can limit the mobile platform's ability to perform tasks and is not conducive to flexible control of the mobile platform.

[0226] Based on this, one embodiment of this application provides a control method for a mobile platform, which can subdivide the types of interference and only control the mobile platform to cancel tasks when the interference received by the mobile platform's signal meets certain conditions, thereby improving the flexibility of mobile platform control and expanding the scenarios in which the mobile platform can perform tasks.

[0227] As shown in Figure 8, the method may include the following steps:

[0228] S802, Obtain the result that the current state of the mobile platform satisfies the abnormal state;

[0229] In step S802, the result that the current state of the mobile platform meets the abnormal state can be obtained.

[0230] S804. In response to the current state of the mobile platform satisfying an abnormal state, control the mobile platform to cancel the execution of the task; wherein, the abnormal state includes: the remote control signal of the mobile platform is interfered with by a specific interference device and / or the satellite positioning signal of the mobile platform is interfered with by a specific type of interference.

[0231] In step S804, if it is determined that the current state of the mobile platform meets the abnormal state, the mobile platform is controlled to cancel the execution of the task. The abnormal state includes the remote control signal of the mobile platform being interfered with by a specific interference device and / or the satellite positioning signal being interfered with by a specific type of interference.

[0232] For example, a mobile platform can communicate with a control device, and the control device can send control signals to the mobile platform to control it. The remote control signal can be a control signal sent by the control device to the mobile platform.

[0233] In related technologies, as long as interference is detected in the signal of the mobile platform, the mobile platform is controlled to cancel the task. This control method does not differentiate the type of interference, resulting in limitations on the mobile platform's task execution. However, in the embodiments of this application, the type of interference can be differentiated. Only malicious interference or other interference that poses a significant threat to the mobile platform will cause the mobile platform to cancel the task execution.

[0234] For example, in some scenarios, criminals might use jamming devices to maliciously interfere with mobile platforms. For instance, they could set up specific jamming devices within a target area to interfere with or block the wireless communication of devices within that area. These jamming devices emit strong electromagnetic signals to interfere with the wireless communication systems of devices within the target area, rendering them unable to function properly. In such scenarios, considering that if the remote control signals sent by the control device to the mobile platform are maliciously interfered with, it may cause the control device to lose control of the mobile platform, posing a significant security risk. To ensure the security of the mobile platform, it is possible to control the mobile platform to cancel the execution of tasks.

[0235] In this application, the satellite positioning signal of a mobile platform is subject to specific types of interference, which can affect the signal strength or signal-to-noise ratio (SNR) of the signal received by the positioning device. Typically, the interference signal is not the actual satellite positioning signal, but rather a decoy signal. Furthermore, the interference signal affects the SNR of the satellite positioning signal received by the mobile platform, but not its reliability or authenticity. Conversely, the decoy signal affects both the SNR and the reliability or authenticity of the received satellite positioning signal. However, in this embodiment, the specific type of interference signal affecting the satellite positioning signal is not the actual satellite positioning signal, i.e., it is not a decoy signal. This interference signal affects the SNR of the satellite positioning signal received by the mobile platform, but not its reliability or authenticity.

[0236] Furthermore, in scenarios where the satellite positioning signal of a mobile platform is subjected to specific types of interference, the satellite positioning signal may become unusable, causing the mobile platform to lose guidance and potentially leading to its loss or failure. Therefore, to ensure the safety of the mobile platform in such scenarios, it is also possible to control the mobile platform to cancel task execution. The specific types of interference can refer to either the intensity of the interference meeting certain conditions or the type of interference meeting certain conditions, which can be set based on actual needs.

[0237] When interference is detected in the remote control signal of a mobile platform due to a specific jamming device and / or in the satellite positioning signal due to a specific type of interference, the mobile platform can be controlled to cancel the execution of a task. By subdividing the interference type, the mobile platform can be triggered to cancel the execution of a task only when the interference to the remote control signal is caused by a specific jamming device or the interference to the satellite positioning signal belongs to a specific type of interference. This solves the problem of limiting the execution of tasks by the mobile platform when the mobile platform is controlled to cancel the execution of tasks under all types of interference, which can improve the flexibility of mobile platform control and expand the scenarios in which the mobile platform can perform tasks.

[0238] The control method for the mobile platform provided in this application can be executed during the execution of a task by the mobile platform, or it can be executed before the mobile platform executes a task.

[0239] For example, in some embodiments, the method can be executed during the execution of a task by the mobile platform. If it is determined that the current state of the mobile platform meets the abnormal state during the execution of the task, the method controls the mobile platform to stop executing the task.

[0240] In some embodiments, controlling the mobile platform to stop performing a task can be controlling the mobile platform to stop moving.

[0241] In some embodiments, the movable platform may be an aircraft, and controlling the aircraft to stop moving may be controlling the aircraft to hover.

[0242] In some embodiments, controlling the mobile platform to stop performing a task can be achieved by controlling the mobile platform to initiate a return-to-home process. This can be done by directly controlling the mobile platform to return to home, or by first prompting the user to return to home and then controlling the mobile platform to return to home.

[0243] In some embodiments, controlling the mobile platform to initiate the return-to-home process can be done by directly controlling the mobile platform to perform the return-to-home operation. For example, the mobile platform can be controlled to return from its current location to the return-to-home point.

[0244] In some embodiments, the abnormal state may be due to specific types of interference with the satellite positioning signal. In such scenarios, since satellite positioning signals are unreliable, using satellite positioning poses significant security risks. Therefore, in this case, when controlling the mobile platform to return from its current location to the return point, the mobile platform can be controlled to use a positioning method other than satellite positioning to return from its current location to the return point.

[0245] In some embodiments, other positioning methods may be one or more of the following: visual positioning, infrared positioning, Wi-Fi positioning, ultrasonic positioning, and positioning based on the movement parameters of a mobile platform.

[0246] In some embodiments, the mobile platform can be an aircraft, and the movement parameter can be a flight parameter, that is, the positioning can be based on the flight parameters during the flight of the aircraft.

[0247] In some embodiments, the abnormal state may be due to specific types of interference with the satellite positioning signal. If the interference is not significant, for example, below a certain threshold, satellite positioning can continue to be used for positioning. In this case, to increase the strength of the received satellite positioning signal, the mobile platform can be controlled to increase the receiving power of the satellite positioning signal, and then satellite positioning can continue to be used to control the mobile platform to return from its current location to the return point.

[0248] In some embodiments, to improve user experience, controlling the mobile platform to initiate the return-to-home process can involve first outputting a first prompt message. This first prompt message informs the user to trigger the mobile platform to execute the return-to-home operation and / or displays a countdown timer. Upon receiving confirmation from the user regarding the first prompt message or after the countdown timer expires, the mobile platform is then controlled to execute the return-to-home operation. For example, in some scenarios, before executing the return-to-home operation, a prompt message can be output asking the user whether to execute the return-to-home operation and displaying a return-to-home confirmation control. If the user confirms the return-to-home operation via the confirmation control, the return-to-home operation is executed. That is, if the current state of the mobile platform meets an abnormal condition, the user can choose whether to execute the return-to-home operation. In some scenarios, to ensure the security of the mobile platform, the mobile platform can be forced to execute the return-to-home operation. To inform the user in advance of the return-to-home operation, the prompt message can be a countdown timer, indicating how long after the operation will be executed. For example, informing the user that the return-to-home operation will be executed in 5 seconds. Of course, in some scenarios, a countdown and a return-to-home confirmation control can be displayed simultaneously. If the user touches the return-to-home confirmation control before the countdown ends, the return-to-home will be triggered directly. If the user does not touch the return-to-home confirmation control, the return-to-home will be triggered after the countdown ends.

[0249] In some embodiments, the method can be executed before the mobile platform performs the task. For example, if it is determined that the current state of the mobile platform meets the abnormal state before the mobile platform performs the task, the mobile platform is controlled not to start the task.

[0250] In some embodiments, the task may be a task that moves from an initial position.

[0251] In some embodiments, the mobile platform includes an aircraft, and the mission includes takeoff.

[0252] In some embodiments, the method can also be executed during the execution of a task on the mobile platform. For example, if it is determined that the current state of the mobile platform meets the abnormal state during the execution of a task on the mobile platform, the mobile platform can be controlled to cancel the execution of the task.

[0253] In some embodiments, the task may be a task performed by the mobile platform when it is not in its initial location.

[0254] In some embodiments, the mobile platform may be an aircraft, and the task may include tasks performed by the aircraft in the air. For example, the task may be a surveying task, an inspection task, a seeding task, a spraying task, a cargo transportation task, and so on.

[0255] In some embodiments, the operation of detecting whether the current state of the mobile platform meets the abnormal state can be performed by the mobile platform. For example, before or during the execution of a task, the mobile platform can detect whether its current state meets the above-mentioned abnormal state. If it does, the mobile platform can be controlled to cancel the execution of the task.

[0256] In some embodiments, the operation of detecting whether the current state of the mobile platform meets the abnormal state can also be performed by the control device. For example, before or during the execution of a task, the mobile platform can send its own signal status parameters for transmitting and receiving signals to the control device. The control device can then detect whether the current state of the mobile platform meets the abnormal state based on the aforementioned signal status parameters, and then send the detection result to the mobile platform.

[0257] In some embodiments, the abnormal state may be due to specific types of interference with the satellite positioning signal. In such scenarios, because satellite positioning signals are unreliable, using satellite positioning poses significant security risks. Therefore, in this case, after controlling the mobile platform to cancel the task, the mobile platform can be controlled to use a positioning method other than satellite positioning for positioning.

[0258] In some embodiments, other positioning methods may be one or more of the following: visual positioning, infrared positioning, Wi-Fi positioning, ultrasonic positioning, and positioning based on the movement parameters of a mobile platform.

[0259] In some embodiments, the mobile platform can be an aircraft, and the movement parameter can be a flight parameter, that is, the positioning can be based on the flight parameters during the flight of the aircraft.

[0260] In some embodiments, this abnormal state may be due to specific types of interference with the satellite positioning signal. If the interference is not significant, for example, below a certain threshold, satellite positioning can continue to be used for positioning. In this case, to increase the strength of the received satellite positioning signal, the mobile platform can be controlled to increase the receiving power of the satellite positioning signal, and then the mobile platform can continue to be controlled using satellite positioning.

[0261] In some embodiments, the specific jamming device can be any type of device with the function of jamming or shielding signals, and this application embodiment is not limited to this. For example, in some embodiments, the specific jamming device can be a jamming gun.

[0262] Considering interference caused by a specific jamming device, the strength, coverage, or duration of the interference signal meets certain characteristics. Therefore, in some embodiments, the interference caused by this specific jamming device can be identified based on the strength of the interference signal, the frequency band range covered by the interference signal, and / or the duration of the interference signal.

[0263] In some embodiments, if the strength of the interference signal received by the mobile platform is greater than or equal to a first preset strength threshold, the frequency band covered by the interference signal is the full frequency range of a specified frequency band, and / or the duration of the interference signal is greater than or equal to a first preset duration, then the remote control signal of the mobile platform is considered to be interfered with by a specific interference device. The first preset strength threshold and the first preset duration can be flexibly set based on actual needs, and the specified frequency band can be the frequency band in which the communication device in the mobile platform operates. For example, the remote control signal of the mobile platform is typically transmitted through the 2.4 GHz band and / or the 5.8 GHz band; therefore, the specified frequency band can be the 2.4 GHz band and / or the 5.8 GHz band.

[0264] For example, the interference signals received by the mobile platform can be sorted from strongest to weakest, and it can be determined whether the strength of the interference signal at a certain percentile (e.g., 80%) exceeds a preset strength threshold. If it does, the interference received by the remote control signal of the mobile platform is considered to be interference from a specific interference device.

[0265] In some embodiments, the location signal being subjected to a specific type of interference may be that the location signal is subjected to strong interference, wherein strong interference may be interference with an interference level greater than a certain threshold.

[0266] Similarly, there are scenarios where malicious actors use jamming devices to interfere with mobile platforms. Therefore, in some embodiments, the location signal being subjected to a specific type of interference may also mean that the location signal is being interfered with by a specific jamming device.

[0267] The specific jamming device can be any type of device with the function of jamming or shielding signals, and this application embodiment does not impose any limitations. For example, in some embodiments, the specific jamming device can be a jamming gun.

[0268] Similarly, regardless of whether the interference is caused by strong interference or interference from specific jamming devices, the strength, coverage, or duration of the interference signal all meet certain characteristics. Therefore, in some embodiments, this specific type of interference can be identified based on the strength of the interference signal, the frequency range covered by the interference signal, and / or the duration of the interference signal. For example, for interference with a more severe degree, or interference caused by jamming devices, the interference signal often has characteristics such as high strength, a wide frequency range covered, or a long duration. Therefore, specific types of interference can be identified based on the above three conditions.

[0269] In some embodiments, if the strength of the interference signal received by the mobile platform is greater than or equal to a second preset strength threshold, the frequency band covered by the interference signal is the full range of a specified frequency band, and / or the duration of the interference signal is greater than or equal to a second preset duration, then the positioning signal of the mobile platform is considered to be subject to a specific type of interference. The second preset strength threshold and the second preset duration can be flexibly set based on actual needs, and the specified frequency band can be the frequency band in which the positioning device in the mobile platform operates. For example, the positioning signal of the mobile platform is typically transmitted through the 1.2 GHz and / or 1.5 GHz frequency bands; therefore, the specified frequency band can be the 1.2 GHz and / or 1.5 GHz frequency bands.

[0270] In some embodiments, in order to inform the user that the mobile platform is currently in an abnormal state, a prompt may be given to the user. For example, when it is determined that the current state of the mobile platform meets the abnormal state, a second prompt message may be output, wherein the second prompt message is used to indicate that the current state of the mobile platform meets the abnormal state.

[0271] In some embodiments, when outputting the second prompt information, the second prompt information can be output through the user interface on the mobile platform, or it can also be output through the user interface on the control device of the mobile platform.

[0272] In some embodiments, the user interface may be a display, speaker, or indicator light.

[0273] In some embodiments, if it is determined that the current state of the mobile platform does not meet the abnormal state, the mobile platform is controlled to continue executing the task.

[0274] In related technologies, when interference with the control signal or positioning signal of an aircraft is detected, a forced return to home will be performed. This method does not distinguish the type of interference in detail, which will limit the aircraft's mission execution and is not conducive to the flexible control of the aircraft.

[0275] Based on this, one embodiment of this application provides a control method for an aircraft, as shown in Figure 9. The method may include the following steps:

[0276] S902, Obtain the result that the current state of the aircraft satisfies the abnormal state;

[0277] In step S902, the result that the current state of the aircraft meets the abnormal state can be obtained.

[0278] S904. In response to the current state of the aircraft satisfying an abnormal state, control the aircraft to initiate the return-to-home process; wherein, the abnormal state includes: the remote control signal of the aircraft being interfered with by a specific jamming device and / or the satellite signal of the aircraft being interfered with by a specific type of interference.

[0279] In step S904, if the current state of the aircraft is determined to meet the abnormal state, the aircraft is controlled to start the return process; wherein, the abnormal state includes: the remote control signal of the aircraft is interfered with by a specific jamming device and / or the satellite signal of the aircraft is interfered with by a specific type of interference.

[0280] In this application, the satellite positioning signal of an aircraft is subject to specific types of interference, which can affect the signal strength or signal-to-noise ratio (SNR) of the signal received by the positioning device. Typically, the interference signal is not the actual satellite positioning signal, but rather a decoy signal. Furthermore, the interference signal affects the SNR of the satellite positioning signal received by the aircraft from the satellite, but does not affect the reliability or authenticity of the received signal. Conversely, the decoy signal affects both the SNR and the reliability or authenticity of the received satellite positioning signal. However, in this embodiment, the satellite positioning signal is subject to a specific type of interference signal that is not a satellite positioning signal, i.e., not a decoy signal. This interference signal affects the SNR of the satellite positioning signal received by the aircraft from the satellite, but does not affect the reliability or authenticity of the received signal.

[0281] The specific implementation details of the above methods can be found in the descriptions in the above embodiments, and will not be repeated here.

[0282] When interference is detected in the aircraft's remote control signal from a specific jamming device and / or in the satellite positioning signal from a specific type of interference, the aircraft can be controlled to cancel its mission. By subdividing the interference type, the aircraft can be triggered to cancel its mission only when the interference to the remote control signal is caused by a specific jamming device or when the interference to the satellite positioning signal belongs to a specific type of interference. This solves the problem of limiting the aircraft's mission execution by controlling it to cancel its mission under all types of interference, improves the flexibility of aircraft control, and expands the scenarios in which the aircraft can perform missions.

[0283] The control method of the mobile platform of this application will be described below with reference to a specific embodiment.

[0284] Taking a mobile platform like a drone as an example, the control scheme for a drone can include the following process: detecting signal status, prompting and executing a return-to-home notification, and deactivating the drone.

[0285] (1) Detect signal status

[0286] During flight, the drone can detect the status of the remote control signal and satellite positioning signal in real time to determine whether the remote control signal and satellite positioning signal are interfered with or spoofed.

[0287] In the case of interference with the remote control signal, the interference intensity of the 2.4GHz and 5.8GHz frequency signals is identified, and interference is judged when the interference intensity reaches the threshold.

[0288] In cases where satellite positioning signals are interfered with, the intensity of the interference is determined by comparing the carrier-to-noise ratio (CNR) of the 1.2GHz and 1.5GHz frequency signals. Interference is considered to have occurred when the CNR reaches a threshold. When the level of satellite positioning interference is insufficient for the UAV's flight requirements, visual positioning is switched to the system.

[0289] In cases where satellite positioning signals are spoofed, fluctuations in the satellite positioning signal are identified to determine whether the current positioning has been compromised. When the satellite positioning signal is spoofed, visual positioning is switched to the next step.

[0290] (2) Return to base notification and execution

[0291] When the aforementioned interference or spoofing is detected, the drone will display a pop-up window on the remote controller screen indicating the drone's signal status and a countdown pop-up prompting the user to return to base. The user can choose to return immediately or wait for the countdown to finish before returning. If the user cancels the return trip during the journey, the return trip will still proceed even if the interference or spoofing persists until it disappears. When the interference or spoofing of the satellite positioning signal is severe, the drone will use a combination of machine learning and visual positioning to return to base.

[0292] (3)Lift the ban

[0293] This allows users to continue operating in jammed or spoofed environments by importing an unblocking certificate. When satellite positioning signals are severely jammed or spoofed, the drone will switch to visual positioning. After importing the unblocking certificate, users can disable the drone's satellite positioning and operate using pure visual positioning.

[0294] This embodiment, by determining the signal status during drone flight, enables the drone to effectively assess whether there are safety hazards in its current environment and effectively alerts the user that continuing operations poses a risk, requiring a return-to-home procedure. Furthermore, by importing an unlock certificate, operators can perform operations using purely visual positioning, resolving the issue of restricted operations in areas with abnormal satellite positioning.

[0295] It is easy to understand that the solutions described in the above embodiments can be combined when there is no conflict, and not all of them are listed in the embodiments of this application.

[0296] Furthermore, this application embodiment also provides a control device for a mobile platform, as shown in FIG10. The control device 100 includes:

[0297] One or more processors 101;

[0298] Memory 102 is used to store processor-executable instructions;

[0299] One or more processors 101 may execute executable instructions individually or together to perform the methods mentioned in any of the above embodiments.

[0300] Furthermore, this application also provides an aircraft, as shown in FIG11, the aircraft 110 including:

[0301] One or more processors 111, and a memory 112 for storing processor-executable computer programs; wherein the one or more processors 111 individually or jointly execute computer program instructions to perform the methods mentioned in any of the above embodiments. Furthermore, the aircraft may also include a power system, payloads (such as imaging devices), communication devices, positioning devices, etc. (not shown).

[0302] Furthermore, this application embodiment also provides a mobile platform, as shown in FIG12, the mobile platform 120 including:

[0303] One or more processors 121, and a memory 122 for storing a processor-executable computer program; wherein the one or more processors 121 individually or collectively execute computer program instructions to perform the methods mentioned in any of the above embodiments.

[0304] In addition, a mobile platform may also include a power system, a load (such as a camera), a communication device, a positioning device, etc. (not shown in the figure).

[0305] Furthermore, this application embodiment also provides a control device, as shown in FIG13, the control device 130 including:

[0306] One or more processors 131, and a memory 132 for storing a processor-executable computer program; wherein the one or more processors 131 individually or collectively execute computer program instructions to perform the methods mentioned in any of the above embodiments.

[0307] Furthermore, this application embodiment also provides a control system for an aircraft, as shown in FIG14, the control system 140 including:

[0308] The system includes a memory 142, a communication interface 143, and one or more processors 141, wherein the memory 142 is used to store computer programs executable by the processors 141.

[0309] One or more processors 141 are used to obtain the result that the current state of the aircraft satisfies the abnormal state;

[0310] Communication interface 143 is used to transmit the result that the current state of the aircraft meets the abnormal state.

[0311] One or more processors 141 are further configured to, in response to the current state of the aircraft satisfying an abnormal state and the aircraft having obtained clearance information, control the aircraft to continue performing the mission without performing a return; wherein the abnormal state includes: interference with the remote control signal, interference with the satellite positioning signal and / or spoofing of the satellite positioning signal;

[0312] and / or

[0313] It is also used to control the aircraft to initiate the return-to-home process in response to the current state of the aircraft meeting an abnormal state; wherein the abnormal state includes: the remote control signal of the aircraft being interfered with by a specific jamming device and / or the satellite signal of the aircraft being interfered with by a specific type of interference;

[0314] Furthermore, this application embodiment also provides a control system for a mobile platform, as shown in FIG14. The control system 140 includes:

[0315] The system includes a memory 142, a communication interface 143, and one or more processors 141, wherein the memory 142 is used to store computer programs executable by the processors 141.

[0316] One or more processors 141 are configured to obtain a result that the current state of the mobile platform satisfies an abnormal state, wherein whether the current state of the mobile platform satisfies an abnormal state can characterize the strength and / or reliability of the signal of the mobile platform.

[0317] Communication interface 143 is used to transmit the result that the current state of the mobile platform satisfies the abnormal state.

[0318] One or more processors 141 are further configured to, in response to the current state of the mobile platform satisfying an abnormal state and the mobile platform having obtained de-enforcement permission information, control the mobile platform to continue executing the task without canceling the task;

[0319] and / or

[0320] One or more processors 141 are configured to obtain the result that the current state of the mobile platform satisfies the abnormal state, wherein the current state of the mobile platform is related to the working state of the components of the mobile platform.

[0321] Communication interface 143 is used to transmit the result that the current state of the mobile platform satisfies the abnormal state.

[0322] One or more processors 141 are further configured to control the mobile platform to continue executing the task without canceling the task in response to the current state of the mobile platform satisfying an abnormal state and the mobile platform having obtained de-encryption permission information, wherein the de-encryption permission information is generated before the current state satisfies the abnormal state;

[0323] and / or

[0324] One or more processors 141 are used to obtain the result that the current state of the mobile platform satisfies the abnormal state;

[0325] Communication interface 143 is used to transmit the result that the current state of the mobile platform satisfies the abnormal state.

[0326] One or more processors 141 are further configured to control the mobile platform to cancel the execution of a task in response to the current state of the mobile platform satisfying an abnormal state; wherein the abnormal state includes: the remote control signal being interfered with by a specific jamming device and / or the satellite positioning signal being interfered with by a specific type of interference.

[0327] Accordingly, embodiments of this application also provide a computer storage medium storing a program, which, when executed by a processor, implements the method in any of the above embodiments.

[0328] The embodiments of this application may take the form of a computer program product implemented on one or more storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program code. Computer-usable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information may be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to: phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0329] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0330] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0331] The methods and apparatus provided in the embodiments of the present invention have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A control method of an aircraft, characterized in that, The method includes: Obtain the result that the current state of the aircraft satisfies the abnormal state; In response to the current state of the aircraft satisfying the abnormal state, and the aircraft having obtained clearance information, the aircraft is controlled to continue performing the mission without returning to base; wherein, the abnormal state includes: the remote control signal of the aircraft being interfered with, the satellite positioning signal of the aircraft being interfered with, and / or the satellite positioning signal of the aircraft being spoofed.

2. A method of controlling a movable platform, characterized by, The method includes: The result of obtaining the current state of the mobile platform satisfying the abnormal state is obtained, wherein whether the current state of the mobile platform satisfies the abnormal state can characterize the signal strength and / or credibility of the mobile platform. In response to the current state of the mobile platform satisfying the abnormal state, and the mobile platform having obtained unblocking permission information, the system controls the mobile platform to continue executing the task without canceling the task.

3. A method of controlling a movable platform, characterized by, The method includes: The result of obtaining the current state of the mobile platform satisfying the abnormal state is obtained, wherein the current state of the mobile platform is related to the working state of the components of the mobile platform; In response to the current state of the mobile platform satisfying the abnormal state, and the mobile platform having obtained unblocking permission information, the system controls the mobile platform to continue executing the task without canceling the task, wherein the unblocking permission information was generated before the current state satisfied the abnormal state.

4. The method of claim 2, wherein, The current state of the mobile platform includes at least one of the following: the signal state of the communication device of the mobile platform, and the signal state of the positioning device of the mobile platform.

5. The method of claim 2, wherein, The signals of the mobile platform include at least one of the following: signals from the communication device of the mobile platform or signals from the positioning device of the mobile platform.

6. The method of claim 5, wherein, The signals of the communication device include at least one of the following: signals received by the communication device and signals sent by the communication device.

7. The method of claim 6, wherein, The communication device receives signals including remote control signals.

8. The method of claim 6, wherein, The signals transmitted by the communication device include image transmission signals.

9. The method of claim 5, wherein, The signals of the positioning device include: the positioning signals received by the positioning device.

10. The method of claim 2, wherein, The current state of the mobile platform does not include the current location of the mobile platform.

11. The method of claim 3, wherein, The working state components of the mobile platform include at least one of the following: the working state of the communication device of the mobile platform, the working state of the positioning device of the mobile platform, or the working state of the battery of the mobile platform.

12. The method of claim 11, wherein, The operating state of the communication device includes at least one of the following: the strength of the signal received by the communication device, and the strength of the signal transmitted by the communication device.

13. The method of claim 12, wherein, The communication device receives signals including remote control signals.

14. The method of claim 12, wherein, The signals transmitted by the communication device include image transmission signals.

15. The method of claim 11, wherein, The operating state of the positioning device includes at least one of the following: the strength of the signal received by the positioning device, and the reliability of the signal received by the positioning device.

16. The method of claim 11, wherein, The battery's operating status includes: the battery's current charge level.

17. The method of claim 3, wherein, The current state of the mobile platform does not include the current location of the mobile platform.

18. The method of claim 2, wherein, The abnormal state includes: an abnormal state of the signal of the communication device of the mobile platform or an abnormal state of the signal of the positioning device of the mobile platform.

19. The method of claim 3, wherein, The abnormal states include: abnormal states of the communication device signal of the mobile platform, abnormal states of the positioning device signal of the mobile platform, or abnormal states of the battery of the mobile platform.

20. The method of claim 18 or 19, wherein, Abnormal states of the positioning device's signal include: the positioning device's signal being interfered with or spoofed.

21. The method of claim 18 or 19, wherein, Abnormal states of the communication device's signal include: the communication device's signal being interfered with, experiencing abnormalities, or being interrupted.

22. The method of claim 21, wherein, The signals of the communication device include: remote control signals or image transmission signals.

23. The method of claim 22, wherein, The interference with the communication device's signal includes: the remote control signal being subject to specific types of interference.

24. The method of claim 23, wherein, The remote control signal being subject to specific types of interference includes: the remote control signal being interfered with by specific interference devices.

25. The method of claim 24, wherein, The specific jamming device includes: a jamming gun.

26. The method of claim 23, wherein, The remote control signal is subject to specific types of interference, including strong interference.

27. The method of any one of claims 23-26, wherein, The identification of specific types of interference to the remote control signal is based on the intensity of the interference signal received by the mobile platform, the frequency range covered by the interference signal, and / or the duration of the interference signal.

28. The method of claim 27, wherein, The remote control signal is subjected to a specific type of interference signal that is an interference signal whose signal strength is greater than or equal to a first preset strength threshold, whose frequency band is the full frequency band range of the specified frequency band, and / or whose duration is greater than or equal to a first preset duration.

29. The method of claim 20, wherein, The signals from the positioning device include: satellite positioning signals.

30. The method of claim 29, wherein, The interference with the satellite positioning signal includes: the satellite positioning signal being subjected to specific types of interference.

31. The method of claim 30, wherein, The satellite positioning signal is subject to specific types of interference, including interference from specific jamming devices.

32. The method of claim 31, wherein, The specific jamming device includes: a jamming gun.

33. The method of claim 30, wherein, The satellite positioning signal is subject to specific types of interference, including strong interference.

34. The method of any one of claims 30-33, wherein, The specific type of interference to the satellite positioning signal is identified based on the intensity of the interference signal received by the mobile platform, the frequency range covered by the interference signal, and / or the duration of the interference signal.

35. The method of any one of claims 30-33, wherein, The specific type of interference signal received by the satellite positioning signal belongs to the interference signal whose signal strength is greater than or equal to the second preset strength threshold, whose frequency band covered by the signal is the full frequency band range of the specified frequency band, and / or whose duration is greater than or equal to the second preset duration.

36. The method of claim 29, wherein, The decoy signal received by the satellite positioning signal is identified by the strength and / or direction of the positioning signal received by the mobile platform.

37. The method of claim 36, wherein, The decoy signal received by the satellite positioning signal is a signal whose strength is greater than or equal to a third preset strength threshold and / or whose transmission direction conforms to a fixed direction.

38. The method of claim 2 or 3, wherein, Also includes: In response to the current state of the mobile platform satisfying the abnormal state and the mobile platform not obtaining the unblocking permission information, the system controls the mobile platform to cancel the execution of the task.

39. The method of claim 38, wherein, In response to the current state of the mobile platform satisfying the abnormal state and the mobile platform not obtaining the unblocking permission information, controlling the mobile platform to cancel the execution of the task includes: during the execution of the task by the mobile platform, in response to the current state of the mobile platform satisfying the abnormal state and the mobile platform not obtaining the unblocking permission information, controlling the mobile platform to stop executing the task.

40. The method of claim 39, wherein, Controlling the mobile platform to stop performing the task includes: controlling the mobile platform to stop moving.

41. The method of claim 40, wherein, The mobile platform includes an aircraft, and the stopping of movement includes hovering.

42. The method of claim 39, wherein, The control of the mobile platform to stop executing the task includes: controlling the mobile platform to initiate a return-to-home process.

43. The method of claim 42, wherein, The process of controlling the mobile platform to initiate the return-to-home process includes: controlling the mobile platform to execute the return-to-home operation.

44. The method of claim 43, wherein The aforementioned control of the mobile platform to perform a return journey includes: controlling the mobile platform to return from its current location to the return point location.

45. The method of claim 44, wherein, The abnormal state includes: the satellite positioning signal is interfered with or the satellite positioning signal is spoofed; controlling the mobile platform to return from the current location to the return point includes: controlling the mobile platform to use a positioning method other than satellite positioning for positioning, and controlling the mobile platform to return from the current location to the return point based on the other positioning method.

46. The method of claim 45, wherein, Other positioning methods include: visual positioning, infrared positioning, Wi-Fi positioning, ultrasonic positioning, and / or positioning based on the movement parameters of the mobile platform.

47. The method of claim 46, wherein, The mobile platform includes an aircraft, and the mobility parameters include flight parameters.

48. The method of claim 44, wherein, The abnormal state includes: the satellite positioning signal is interfered with; controlling the mobile platform to return from the current position to the return point position includes: controlling the mobile platform to increase the receiving power of the satellite positioning signal of the mobile platform, and using satellite positioning to control the mobile platform to return from the current position to the return point position.

49. The method of claim 42, wherein, The step of controlling the mobile platform to initiate the return-to-home process includes: outputting a first prompt message, which is used to prompt the user to trigger the mobile platform to perform the return-to-home process and / or to indicate the countdown time; and controlling the mobile platform to perform the return-to-home process in response to receiving a confirmation instruction from the user regarding the first prompt message or the end of the countdown time.

50. The method of claim 49, wherein, Also includes: During the output of the first prompt information, in response to receiving a control command triggered by the user, the movable platform is controlled to adjust its movement parameters.

51. The method of claim 50, wherein, Also includes: The movement parameters include: position, direction of movement, speed of movement, and / or posture of movement.

52. The method of claim 49, wherein, The output of the first prompt information includes: outputting the first prompt information through the user interface of the mobile platform, or outputting the first prompt information through the user interface of the control device of the mobile platform.

53. The method of claim 52, wherein, The user interface includes: a display, a speaker, or an indicator light.

54. The method of claim 38, wherein, The step of controlling the mobile platform to cancel the execution of the task in response to the current state of the mobile platform satisfying the abnormal state and the mobile platform not obtaining the unblocking permission information includes: before the mobile platform executes the task, in response to the current state of the mobile platform satisfying the abnormal state and the mobile platform not obtaining the unblocking permission information, controlling the mobile platform not to start the task.

55. The method of claim 54, wherein, The task includes moving from the initial position.

56. The method of claim 55, wherein, The mobile platform includes an aircraft, and the mission includes takeoff.

57. The method of claim 2 or 3, wherein, The step of controlling the mobile platform to continue executing the task without canceling the task in response to the current state of the mobile platform meeting an abnormal state and the mobile platform having obtained unblocking permission information includes: during the execution of the task by the mobile platform, in response to the current state of the mobile platform meeting an abnormal state and the mobile platform having obtained unblocking permission information, controlling the mobile platform to continue executing the task without canceling the task.

58. The method of claim 57, wherein, The tasks include those performed by the mobile platform when it is not in its initial position.

59. The method of claim 58, wherein, The mobile platform includes an aircraft, and the mission includes missions performed by the aircraft in the air.

60. The method of claim 2 or 3, wherein, The step of controlling the mobile platform to continue executing the task without canceling the task in response to the current state of the mobile platform meeting the abnormal state and the mobile platform having obtained the unblocking permission information includes: before the mobile platform executes the task, in response to the current state of the mobile platform meeting the abnormal state and the mobile platform having obtained the unblocking permission information, controlling the mobile platform to start executing the task.

61. The method of claim 60, wherein, The task includes moving from the initial position.

62. The method of claim 61, wherein, The mobile platform includes an aircraft, and the mission includes takeoff.

63. The method of claim 2 or 3, wherein, The process of obtaining the result that the current state of the mobile platform meets the abnormal state includes: detecting whether the current state of the mobile platform meets the abnormal state.

64. The method of claim 2 or 3, wherein, The process of obtaining the result that the current state of the mobile platform satisfies the abnormal state includes: receiving the result that the current state of the mobile platform satisfies the abnormal state.

65. The method of claim 2 or 3, wherein, The abnormal state includes: the satellite positioning signal is interfered with or the satellite positioning signal is spoofed; controlling the mobile platform to continue to perform the task without canceling the task includes: controlling the mobile platform to use a positioning method other than satellite positioning to continue to perform the task.

66. The method of claim 65, wherein, Other positioning methods include: visual positioning, infrared positioning, Wi-Fi positioning, ultrasonic positioning, and / or positioning based on the movement parameters of the mobile platform.

67. The method of claim 66, wherein, The mobile platform includes an aircraft, and the mobility parameters include flight parameters.

68. The method of claim 2 or 3, wherein, The abnormal state includes: interference with satellite positioning signals; controlling the mobile platform to continue performing the task without canceling the task includes: controlling the mobile platform to increase the receiving power of the mobile platform's satellite positioning signals, and using satellite positioning to perform positioning in order to continue performing the task.

69. The method of claim 2, wherein, The unblocking permission information is obtained by the mobile platform before initiating the task.

70. The method of claim 2 or 3, wherein, The unblocking permission information is obtained from the control device of the mobile platform or from the unblocking approval platform used to issue the unblocking permission information.

71. The method of claim 2 or 3, wherein, The unblocking permission information is issued by a specific person who is not a user controlling the mobile platform.

72. The method of claim 2 or 3, wherein, Also includes: In response to the current state of the mobile platform satisfying the abnormal state, a second prompt message is output, which is used to indicate that the current state of the mobile platform satisfies the abnormal state.

73. The method of claim 72, wherein, The output of the second prompt information includes: outputting the second prompt information through the user interface of the mobile platform, or outputting the second prompt information through the user interface of the control device of the mobile platform.

74. The method of claim 73, wherein, User interfaces include: displays, speakers, or indicator lights.

75. The method of claim 2 or 3, wherein, Also includes: In response to the current state of the mobile platform not meeting the abnormal state, the mobile platform is controlled to continue executing the task.

76. A control method for an aircraft, characterized in that include: Obtain the result that the current state of the aircraft satisfies the abnormal state; In response to the current state of the aircraft satisfying the abnormal state, the aircraft is controlled to initiate a return-to-home process; wherein the abnormal state includes: the remote control signal of the aircraft being interfered with by a specific jamming device and / or the satellite signal of the aircraft being interfered with by a specific type of interference.

77. A method of controlling a movable platform, the method comprising: include: Obtain the result that the current state of the mobile platform satisfies the abnormal state; In response to the current state of the mobile platform satisfying the abnormal state, the mobile platform is controlled to cancel the execution of the task; wherein, the abnormal state includes: the remote control signal of the mobile platform is interfered with by a specific jamming device and / or the satellite positioning signal of the mobile platform is interfered with by a specific type of interference.

78. The method of claim 77, wherein, The step of controlling the mobile platform to cancel task execution in response to the current state of the mobile platform satisfying the abnormal state includes: during the execution of the task on the mobile platform, in response to the current state of the mobile platform satisfying the abnormal state, controlling the mobile platform to stop executing the task.

79. The method of claim 78, wherein, The control of the mobile platform to stop performing the task includes: controlling the mobile platform to stop moving.

80. The method of claim 79, wherein, The mobile platform includes an aircraft, and the stopping of movement includes hovering.

81. The method of claim 78, wherein, The control of the mobile platform to stop executing the task includes: controlling the mobile platform to initiate a return-to-home process.

82. The method of claim 81, wherein, The process of controlling the mobile platform to initiate the return-to-home process includes: controlling the mobile platform to execute the return-to-home operation.

83. The method of claim 82, wherein, The control of the mobile platform to perform the return trip includes: controlling the mobile platform to return from its current location to the return point location.

84. The method of claim 83, wherein, The abnormal state includes: the satellite positioning signal is subject to a specific type of interference; controlling the mobile platform to return from the current location to the return point includes: controlling the mobile platform to use a positioning method other than satellite positioning for positioning, and controlling the mobile platform to return from the current location to the return point based on the other positioning method.

85. The method of claim 84, wherein, Other positioning methods include: visual positioning, infrared positioning, Wi-Fi positioning, ultrasonic positioning, and / or positioning based on motion parameters.

86. The method of claim 81, wherein, The step of controlling the mobile platform to initiate the return-to-home process includes: outputting a first prompt message, which is used to prompt the user to trigger the mobile platform to perform the return-to-home process and / or to indicate the countdown time; and controlling the mobile platform to perform the return-to-home process in response to receiving a confirmation instruction from the user regarding the first prompt message or the end of the countdown time.

87. The method of claim 86, wherein, Also includes: During the output of the first prompt information, in response to receiving a control command triggered by the user, the movable platform is controlled to adjust its movement parameters.

88. The method of claim 87, wherein, The movement parameters include: position, direction of movement, speed of movement, and / or posture of movement.

89. The method of claim 86, wherein, The output of the first prompt information includes: outputting the first prompt information through the user interface of the mobile platform, or outputting the first prompt information through the user interface of the control device of the mobile platform.

90. The method of claim 89, wherein, The user interface includes: a display, a speaker, or an indicator light.

91. The method of claim 77, wherein, The step of controlling the mobile platform to cancel task execution in response to the current state of the mobile platform satisfying the abnormal state includes: before the mobile platform executes the task, in response to the current state of the mobile platform satisfying the abnormal state, controlling the mobile platform not to start the task.

92. The method of claim 91, wherein, The task includes moving from the initial position.

93. The method of claim 92, wherein, The mobile platform includes an aircraft, and the mission includes takeoff.

94. The method of claim 77, wherein, The step of controlling the mobile platform to cancel the execution of the task in response to the current state of the mobile platform meeting an abnormal state includes: during the execution of the task on the mobile platform, in response to the current state of the mobile platform meeting an abnormal state, controlling the mobile platform to cancel the execution of the task.

95. The method of claim 94, wherein, The tasks include those performed by the mobile platform when it is not in its initial position.

96. The method of claim 95, wherein, The mobile platform includes an aircraft, and the mission includes missions performed by the aircraft in the air.

97. The method of claim 77, wherein, The process of obtaining the result that the current state of the mobile platform meets the abnormal state includes: detecting whether the current state of the mobile platform meets the abnormal state.

98. The method of claim 77, wherein, The process of obtaining the result that the current state of the mobile platform satisfies the abnormal state includes: receiving the result that the current state of the mobile platform satisfies the abnormal state.

99. The method of claim 77, wherein, The abnormal state includes: the satellite positioning signal is subjected to a specific type of interference; controlling the mobile platform to cancel the execution of the task includes: controlling the mobile platform to use a positioning method other than satellite positioning for positioning.

100. The method of claim 99, wherein, Other positioning methods include: visual positioning, infrared positioning, Wi-Fi positioning, ultrasonic positioning, and / or positioning based on the movement parameters of the mobile platform.

101. The method of claim 100, wherein, The mobile platform includes an aircraft, and the mobility parameters include flight parameters.

102. The method of claim 77, wherein, The abnormal state includes: the satellite positioning signal is subjected to a specific type of interference; controlling the mobile platform to cancel the execution of the task includes: controlling the mobile platform to increase the receiving power of the satellite positioning signal of the mobile platform and using satellite positioning to perform positioning; and / or The specific jamming device includes: a jamming gun.

103. The method of claim 102, wherein, The interference of the remote control signal of the mobile platform by a specific jamming device is identified based on the strength of the jamming signal received by the mobile platform, the frequency range covered by the received jamming signal, and / or the duration of the received jamming signal.

104. The method of claim 103, wherein, The remote control signal is interfered with by a specific interference device. The interference signal is an interference signal whose signal strength is greater than or equal to a first preset strength threshold, whose frequency band is the full frequency band range of the specified frequency band, and / or whose duration is greater than or equal to a first preset duration.

105. The method of claim 77, wherein, The satellite positioning signal is subject to specific types of interference, including interference from specific jamming devices.

106. The method of claim 105, wherein, The specific jamming device includes: a jamming gun.

107. The method of claim 77, wherein, The satellite positioning signal is subject to specific types of interference, including strong interference.

108. The method of claim 107, wherein, The satellite positioning signal of the mobile platform is subject to specific types of interference based on the intensity of the interference signal received by the mobile platform, the frequency range covered by the received interference signal, and / or the duration of the received interference signal.

109. The method of claim 108, wherein, The satellite positioning signal is subject to a specific type of interference signal, which is an interference signal whose signal strength is greater than or equal to a second preset strength threshold, whose frequency band is the full frequency band range of the specified frequency band, and / or whose signal duration is greater than or equal to a second preset duration.

110. The method of claim 77, wherein, Also includes: In response to the current state of the mobile platform satisfying the abnormal state, a second prompt message is output, which is used to indicate that the current state of the mobile platform satisfies the abnormal state.

111. The method of claim 110, wherein, The output of the second prompt information includes: outputting the second prompt information through the user interface of the mobile platform, or outputting the second prompt information through the user interface of the control device of the mobile platform.

112. The method of claim 77, wherein, Also includes: In response to the current state of the mobile platform not meeting the abnormal state, the mobile platform is controlled to continue executing the task.

113. The method of claim 76 or 77, wherein, The satellite signal is subjected to a specific type of interference signal, which is not a satellite positioning signal.

114. The method of claim 76 or 77, wherein, The specific type of interference signal received by the satellite signal is not a decoy signal.

115. The method of claim 76, wherein, The specific type of interference signal received by the satellite signal affects the signal-to-noise ratio of the satellite positioning signal received by the spacecraft from the satellite, but does not affect the reliability or authenticity of the satellite positioning signal received by the spacecraft from the satellite.

116. The method of claim 77, wherein, The specific type of interference signal received by the satellite signal affects the signal-to-noise ratio of the satellite positioning signal received by the mobile platform from the satellite, but does not affect the reliability or authenticity of the satellite positioning signal received by the mobile platform from the satellite.

117. A control device for an aircraft, characterized in that include: One or more processors; Memory used to store the processor's executable instructions; The one or more processors execute the executable instructions individually or jointly to perform the method as described in any one of claims 1, 76, 113 to 115.

118. A control device for a moveable platform, characterized by include: One or more processors; Memory used to store the processor's executable instructions; The one or more processors execute the executable instructions individually or jointly to perform the method as described in any one of claims 2 to 75, 77 to 114 or 116.

119. An aircraft characterized by, include: One or more processors, and memory for storing a computer program executable by the processors; wherein the one or more processors individually or jointly execute the computer program instructions to perform the following process: Obtain the result that the current state of the aircraft satisfies the abnormal state; In response to the current state of the aircraft satisfying the abnormal state, the aircraft is controlled to initiate a return-to-home process; wherein the abnormal state includes: the remote control signal of the aircraft being interfered with by a specific jamming device and / or the satellite signal of the aircraft being interfered with by a specific type of interference.

120. An aircraft characterized by, include: One or more processors, and memory for storing a computer program executable by the processors; wherein the one or more processors individually or jointly execute the computer program instructions to perform the following process: The result is obtained that the current state of the aircraft satisfies the abnormal state. In response to the current state of the aircraft satisfying the abnormal state, and the aircraft having obtained clearance information, the aircraft is controlled to continue performing the mission without returning to base; wherein, the abnormal state includes: remote control signal interference, satellite positioning signal interference, and / or satellite positioning signal spoofing.

121. A movable platform, characterized by include: One or more processors, and memory for storing a computer program executable by the processors; wherein the one or more processors individually or jointly execute the computer program instructions to perform the following process: Obtain the result that the current state of the mobile platform satisfies the abnormal state; In response to the current state of the mobile platform satisfying the abnormal state, the mobile platform is controlled to cancel the execution of the task; wherein, the abnormal state includes: the remote control signal of the mobile platform is interfered with by a specific jamming device and / or the satellite positioning signal of the mobile platform is interfered with by a specific type of interference.

122. A movable platform, characterized by include: One or more processors, and memory for storing a computer program executable by the processors; wherein the one or more processors individually or jointly execute the computer program instructions to perform the following process: The result of obtaining the current state of the mobile platform satisfying the abnormal state is obtained, wherein whether the current state of the mobile platform satisfies the abnormal state can characterize the signal strength and / or credibility of the mobile platform. In response to the current state of the mobile platform satisfying the abnormal state, and the mobile platform having obtained unblocking permission information, the system controls the mobile platform to continue executing the task without canceling the task.

123. A movable platform, characterized by include: One or more processors, and memory for storing a computer program executable by the processors; wherein the one or more processors individually or jointly execute the computer program instructions to perform the following process: The result of obtaining the current state of the mobile platform satisfying the abnormal state is obtained, wherein the current state of the mobile platform is related to the working state of the components of the mobile platform; In response to the current state of the mobile platform satisfying the abnormal state, and the mobile platform having obtained unblocking permission information, the system controls the mobile platform to continue executing the task without canceling the task, wherein the unblocking permission information was generated before the current state satisfied the abnormal state.

124. A control device, characterized by include: One or more processors, and memory for storing a computer program executable by the processors; wherein the one or more processors individually or jointly execute the computer program instructions to perform the following process: The current state of the aircraft is obtained as a result of an abnormal state, wherein the control device has established a communication connection with the aircraft; In response to the current state of the aircraft satisfying the abnormal state, the aircraft is controlled to initiate a return-to-home process; wherein the abnormal state includes: the remote control signal of the aircraft being interfered with by a specific jamming device and / or the satellite signal of the aircraft being interfered with by a specific type of interference.

125. A control device, characterized by include: One or more processors, and memory for storing a computer program executable by the processors; wherein the one or more processors individually or jointly execute the computer program instructions to perform the following process: The current state of the aircraft is obtained as a result of an abnormal state, wherein the control device has established a communication connection with the aircraft; In response to the current state of the aircraft satisfying the abnormal state, and the aircraft having obtained clearance information, the aircraft is controlled to continue performing the mission without returning to base; wherein, the abnormal state includes: remote control signal interference, satellite positioning signal interference, and / or satellite positioning signal spoofing.

126. A control device, characterized by include: One or more processors, and memory for storing a computer program executable by the processors; wherein the one or more processors individually or jointly execute the computer program instructions to perform the following process: The current state of the mobile platform is obtained to meet the result of an abnormal state, wherein the control device has established a communication connection with the mobile platform; In response to the current state of the mobile platform satisfying the abnormal state, the mobile platform is controlled to cancel the execution of the task; wherein, the abnormal state includes: the remote control signal of the mobile platform is interfered with by a specific jamming device and / or the satellite positioning signal of the mobile platform is interfered with by a specific type of interference.

127. A control device, characterized by include: One or more processors, and memory for storing a computer program executable by the processors; wherein the one or more processors individually or jointly execute the computer program instructions to perform the following process: The result of obtaining whether the current state of the mobile platform meets the abnormal state is obtained, wherein whether the current state of the mobile platform meets the abnormal state can characterize the signal strength and / or reliability of the mobile platform; the control device establishes a communication connection with the mobile platform; In response to the current state of the mobile platform satisfying the abnormal state, and the mobile platform having obtained unblocking permission information, the system controls the mobile platform to continue executing the task without canceling the task.

128. A control device, characterized by include: One or more processors, and memory for storing a computer program executable by the processors; wherein the one or more processors individually or jointly execute the computer program instructions to perform the following process: The current state of the mobile platform is obtained as meeting the result of an abnormal state, wherein the current state of the mobile platform is related to the working state of the components of the mobile platform; the control device has established a communication connection with the mobile platform; In response to the current state of the mobile platform satisfying the abnormal state, and the mobile platform having obtained unblocking permission information, the system controls the mobile platform to continue executing the task without canceling the task, wherein the unblocking permission information was generated before the current state satisfied the abnormal state.

129. A control system for an aircraft, characterized in that include: The system includes a memory, a communication interface, and one or more processors, wherein the memory is used to store computer programs executable by the processor. One or more of the processors are configured to obtain a result indicating that the current state of the aircraft satisfies an abnormal state. The communication interface is used to transmit the result that the current state of the aircraft satisfies the abnormal state. One or more of the processors are further configured to, in response to the current state of the aircraft satisfying the abnormal state and the aircraft having obtained clearance information, control the aircraft to continue performing the mission without performing a return; wherein the abnormal state includes: remote control signal interference, satellite positioning signal interference, and / or satellite positioning signal spoofing.

130. A control system for an aircraft, characterized by include: The system includes a memory, a communication interface, and one or more processors, wherein the memory is used to store computer programs executable by the processor. One or more of the processors are configured to obtain a result indicating that the current state of the aircraft satisfies an abnormal state. The communication interface is used to transmit the result that the current state of the aircraft satisfies the abnormal state. One or more of the processors are further configured to control the aircraft to initiate a return-to-home process in response to the current state of the aircraft satisfying the abnormal state; wherein the abnormal state includes: the remote control signal of the aircraft being interfered with by a specific jamming device and / or the satellite signal of the aircraft being interfered with by a specific type of interference.

131. A control system for a moveable platform, characterized by, include: The system includes a memory, a communication interface, and one or more processors, wherein the memory is used to store computer programs executable by the processor. One or more of the processors are configured to obtain a result that the current state of the mobile platform satisfies an abnormal state, wherein whether the current state of the mobile platform satisfies the abnormal state can characterize the strength and / or reliability of the signal of the mobile platform. The communication interface is used to transmit the result that the current state of the mobile platform satisfies the abnormal state. One or more of the processors are further configured to, in response to the current state of the mobile platform satisfying the abnormal state and the mobile platform having obtained unblocking permission information, control the mobile platform to continue executing the task without canceling the task.

132. A control system for a moveable platform, characterized by, include: The mobile platform includes a memory, a communication interface, and one or more processors, wherein the memory stores a computer program executable by the processor; and the one or more processors are configured to obtain a result indicating that the current state of the mobile platform satisfies an abnormal state, wherein the current state of the mobile platform is related to the operating state of the components of the mobile platform. The communication interface is used to transmit the result that the current state of the mobile platform meets the abnormal state. One or more of the processors are further configured to, in response to the current state of the mobile platform satisfying the abnormal state and the mobile platform having obtained de-encryption permission information, control the mobile platform to continue executing the task without canceling the task, wherein the de-encryption permission information is generated before the current state satisfies the abnormal state.

133. A control system for a moveable platform, characterized by include: The system includes a memory, a communication interface, and one or more processors, wherein the memory is used to store a computer program executable by the processor; and the one or more processors are used to obtain a result indicating that the current state of the mobile platform satisfies an abnormal state. The communication interface is used to transmit the result that the current state of the mobile platform meets the abnormal state. One or more of the processors are further configured to control the mobile platform to cancel the execution of the task in response to the current state of the mobile platform satisfying the abnormal state; wherein the abnormal state includes: the remote control signal being interfered with by a specific jamming device and / or the satellite positioning signal being interfered with by a specific type of interference.

134. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed, implements the method as described in any one of claims 1-116.

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