125 results about "Flight space" patented technology

The embodiment of the invention provides an unmanned aerial vehicle flight path detection method and equipment, and the method comprises the steps: firstly determining a flight plan of an unmanned aerial vehicle, then generating a flight path line and a first space-time envelope corresponding to the flight plan according to the flight plan, monitoring the flight attitude data of the unmanned aerial vehicle after the unmanned aerial vehicle takes off, and carrying out the detection of the flight path of the unmanned aerial vehicle. A second space-time envelope body can be obtained according to a first time point, a first distance between space position information of the unmanned aerial vehicle at the first time point and a flight track point in the second space-time envelope body is calculated, and whether the unmanned aerial vehicle deviates from the first space-time envelope body or not is judged according to the first distance. According to the scheme, by introducing the flight plan, the flight track line and the space-time envelope of flight, the flight path of the unmanned aerial vehicle in specific time is predicted, the full view of the flight process in the whole flight plan is mastered, meanwhile, the distance relation between the real-time position of the unmanned aerial vehicle and the corresponding space-time envelope is calculated, and the possible yaw risk of the unmanned aerial vehicle is accurately recognized.

The invention discloses a flight space directional training auxiliary system and method, and the system comprises a flight task simulation module; the meteorological environment simulation module is used for simulating a meteorological scene corresponding to a flight task, and simulating the meteorological scene by establishing a multi-dimensional meteorological model and combining meteorological parameters; the meteorological environment parameter control module comprises a time step length control module which adopts a preset time step length to input meteorological parameter observation data collected in real time to the meteorological parameter setting module; the specific meteorological event control module is used for transmitting meteorological parameters of a specific meteorological event area to the meteorological parameter setting module when the airplane triggers a specific meteorological event; and the training scheme generation module is used for generating a proper training scheme according to the historical training information of the flight personnel. According to the system and the method, a real and personalized simulation training environment can be provided for the flight personnel, and the professional skills and the capability of coping with various flight conditions of the flight personnel are effectively improved.

The invention relates to an autonomous flight unmanned aerial vehicle interception system carrying an anti-riot capture net gun, and aims to realize intelligent identification and accurate interception of a high-dynamic target. The sensing module collects multi-source data such as images, laser radar, air pressure and wind speed and fuses the multi-source data to generate a flight space topological graph, and the recognition module extracts target position, speed and deformation information according to the graph and outputs target motion parameters and deformation characteristics. The control unit constructs a target trajectory prediction model and a risk level incidence matrix based on the information, and dynamically generates an interception path, a posture adjustment instruction and a capture trigger strategy. The propulsion assembly adjusts the three-dimensional pose of the aircraft in real time according to the pose adjustment instruction, has anti-interference stability and is suitable for flight in a complex environment. The launching assembly is integrated in the aircraft structure and completes anti-riot net gun launching and target capturing according to a triggering strategy. The system has autonomous perception, dynamic prediction and accurate execution capabilities, and is suitable for target interception and control tasks in complex scenes.

The invention discloses an unmanned aerial vehicle flight path planning method based on an improved Harris eagle optimization algorithm, and the method comprises the steps: setting peak parameter information, constructing a threat equivalent terrain simulation map through a peak function, and carrying out the modeling of a flight environment; establishing a corresponding cost function according to the length cost, the threat cost and the smoothness cost of the flight path, and converting a flight path planning problem into an optimization problem of minimizing the cost function; and solving the optimization problem of the minimum cost function by using an improved Harris eagle optimization algorithm fusing a labor division mechanism and an elimination selection strategy, and carrying out iterative optimization to obtain the optimal flight path of the unmanned aerial vehicle. According to the invention, the feasible track can be explored and developed as much as possible in the flight space, collision and track jitter can be avoided, and smooth execution of the flight task of the unmanned aerial vehicle is facilitated.

The invention relates to the technical field of route planning, and provides a shortest route detection method and system for a low-altitude aircraft. The method comprises the following steps: establishing a three-dimensional environment model of a target area, and identifying an obstacle; marking a driving space according to the obstacle range and the safety range of the identified obstacle, and constructing a flight space map; taking the current position of the aircraft as a starting point, taking the target flight position as an end point, and performing minimum path search in the flight space map based on constraint conditions of a minimum turning radius and a maximum climbing rate to obtain a minimum planned path; and performing intermediate node redundancy verification on the minimum planned path, and taking the minimum planned path meeting the verification result as the shortest determined route. According to the method and the device, the technical problems of insufficient precision of the planning path and potential safety hazards caused by the fact that the three-dimensional obstacle environment and the aircraft motion constraint cannot be considered in the existing low-altitude aircraft route planning process are solved, and the technical effects of improving the low-altitude flight safety and the route planning efficiency are achieved.

The invention relates to the technical field of aircraft route design, in particular to a Beidou grid-based low-altitude aircraft three-dimensional route design method, which comprises the following steps of: performing airspace type subdivision processing on a target flight area in a flight space model; judging the airspace available state of the airspace type; dividing an initial route coverage space of the target low-altitude aircraft; carrying out conflict investigation on the airspace use condition in the initial route range; when the conflict checking result is a conflict-free state, performing arc fitting on the air route space trajectory of the target low-altitude aircraft; and verifying the fitted route trajectory, and if the current airspace state is changed, adjusting the fitted route trajectory to obtain a three-dimensional route design scheme. According to the method, the airline can be planned by combining airspace type division and a dynamic available state, the airline can be changed and adjusted according to the real-time airspace, and the flexibility and safety of airline planning are improved.

The invention discloses an unmanned aerial vehicle path planning method and device based on an improved frost ice optimization algorithm, and the method comprises the steps: constructing a flight space according to the starting point and the terminal point of an unmanned aerial vehicle, and planning a flight path of the unmanned aerial vehicle according to an obstacle in the flight space and a comprehensive cost function of the path planning of the unmanned aerial vehicle; substituting the coordinate value of the rime particle position obtained through a multi-strategy improved frost ice optimization algorithm into the comprehensive cost function to calculate and output an optimal path; and adjusting the flight path of the unmanned aerial vehicle according to the optimal path. According to the invention, unmanned aerial vehicle path planning is realized based on the improved frost ice optimization algorithm, the length of the optimized path, the flight time, the energy consumption and other aspects are obviously improved, the path with low cost, high safety and short arrival time can be quickly found, and the task execution efficiency of the unmanned aerial vehicle is improved.

The invention provides a flight space cognition test platform and method based on multi-modal data fusion, and relates to the technical field of data processing, an evaluation task program module is obtained, real-time synchronous data sampling is performed through an eye movement tracking module and an fNIRS monitoring module, flight space environment multi-modal data is transmitted to a data fusion and analysis module, and the flight space cognition test platform and method based on multi-modal data fusion are obtained. And according to the data fusion and analysis module, designing a data synchronization and fusion algorithm model, determining a multi-modal data machine learning model, carrying out synchronous fusion on the flight space multi-modal feature data, evaluating the flight multi-modal feature fusion data, and obtaining a flight space cognition test result. The technical problems of inaccurate flight space cognitive test result and insufficient coverage in the prior art are solved. The technical effect of improving the accuracy and reliability of the flight space cognitive test result is achieved.

The invention relates to an airspace intelligent generation planning method, system and device based on live-action three-dimensional and semantic rules and a medium. The method comprises the steps of performing Euclidean distance field calculation on a target area live-action three-dimensional triangular mesh model, generating a three-dimensional voxelization distance field, extracting a continuous curved surface formed by points with distance values equal to a safety radius in combination with the safety radius of an aircraft, and generating a flight channel; performing airspace constraint rule mapping processing in the flight channel to generate a flight space with a cost attribute; path searching is carried out in the flying space, an initial broken line path is obtained, spline curve fitting processing is carried out on the path, and a continuous flying track is obtained. According to the method, modeling is carried out on geometric information of a live-action three-dimensional model and multi-dimensional airspace constraints, and path searching and trajectory fitting are combined, so that the environment authenticity, path safety and adaptability to aircraft dynamic characteristics of airspace planning are improved, and the responsiveness to dynamic airspace changes is enhanced.

There is provided a management apparatus configured to allocate a plurality of zones capable of identifying a three-dimensional space in common among a plurality of mobile communication carrier networks to a flight airspace allowing a plurality of mobile terminals to be flown, the plurality of mobile terminals being configured to respectively perform wireless communication with the plurality of mobile communication carrier networks, and configured to transmit information on allocation of the plurality of zones to a mobile communication network respectively managed by the plurality of mobile communication carriers.

The invention discloses an unmanned aerial vehicle management and control method and system based on Beidou grid codes, and a computing device. The method comprises the steps of determining a ground area corresponding to an area suitable for flight; acquiring ground elevation information of the ground area, and extending upwards by a predetermined height based on the ground elevation information to form a flight space area of the unmanned aerial vehicle; performing grid division on the flight space area based on the Beidou grid code so as to divide the flight space area into a plurality of space grid units; periodically acquiring flight information of the unmanned aerial vehicle; based on the flight information of each unmanned aerial vehicle, allocating a corresponding low-altitude task to each subordinate unmanned aerial vehicle through the master control unmanned aerial vehicle, and sending a control instruction to each subordinate unmanned aerial vehicle to control each subordinate unmanned aerial vehicle to execute the low-altitude task; and determining each space grid unit corresponding to the space position information of the unmanned aerial vehicle at each time point, and generating a grid flight path of the unmanned aerial vehicle so as to monitor and manage the flight process of the unmanned aerial vehicle based on the grid flight path.

The invention discloses a path dynamic planning method and system for an electric power low-altitude inspection unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicle flight control. The method comprises the following steps: constructing a low-altitude three-dimensional flight space model, and constructing a power low-altitude flyable airspace model through flyable voxel discrete analysis; performing time domain and frequency domain synchronous sampling on the target inspection object by using an electromagnetic sensing module and an image acquisition module carried by the unmanned aerial vehicle to obtain an electromagnetic sensing data sequence and a visual collaborative data sequence; carrying out voxel path risk index identification in combination with the flight airspace model and the electromagnetic sensing data sequence, and constructing a three-dimensional electromagnetic thermodynamic diagram; introducing a geometric texture coupling quality identification mechanism to evaluate the viewpoint quality, and determining a two-dimensional viewpoint sequence; and generating a target dynamic inspection path through a path dynamic planner. According to the invention, the problem of path planning of unmanned aerial vehicle inspection in a complex electromagnetic environment is effectively solved, and the flight safety and the data acquisition quality are improved.

The invention discloses a flight space state obtaining method and device and a computer program product. The method comprises the following steps: determining a target flight meeting a freight rate search request; if an airline company corresponding to the target flight does not support a first protocol but supports a second protocol, a cache updating module is called, the first protocol supports a request for a flight space state according to a flight number and a date in a short connection mode, and the second protocol supports a request for the flight space state according to city pairs or airport combinations in a session mode; the cache updating module is used for requesting a flight space state from an airline company by adopting a page turning request mode through a second protocol, and updating cache data of the flight space state; and acquiring a flight space state matched with the flight number of the target flight from the updated cache data. Through the method and the device, the problem that the freight rate search system is difficult to acquire the shipping space state through the flight number for an airline company which does not have a first protocol and only has a second protocol is solved.

The invention discloses a flight route detection method and device, electronic equipment and a storage medium. The method comprises the following steps: determining identity information of a target aircraft according to an image acquired by image acquisition equipment deployed in a flight space; according to an association relationship between the identity information and a flight area, obtaining a target flight area corresponding to the target aircraft, the target flight area being an area determined according to flight plan information reported by the target aircraft and gridding information of a flight space; determining an actual flight path of the target aircraft according to electromagnetic information detected by a base station deployed in the flight space; the actual flight path of the target aircraft is detected based on the target flight area, a detection result is obtained, and the detection result is used for representing whether the flight route of the target aircraft deviates or not. According to the scheme provided by the embodiment of the invention, the accuracy of route deviation detection can be improved, and a basis is provided for the flight safety of an aircraft.

The invention belongs to the technical field of unmanned aerial vehicle path planning, and particularly relates to a multi-unmanned aerial vehicle cooperative obstacle avoidance method and system based on an Astar algorithm, electronic equipment and a computer readable storage medium. Each unmanned aerial vehicle in the system can perform path planning independently, the flight space of the unmanned aerial vehicle is divided into three-dimensional grids, and when an obstacle is detected, the coordinates, the speed and the acceleration of the grids occupied by the obstacle are calculated and sent to other unmanned aerial vehicles. And each airplane calculates the predicted coordinates of the dynamic obstacle position according to a kinematics formula. An improved Astar algorithm is used to calculate a global path, and obstacle prediction probability cost is added. And selecting the path with the minimum cost as a global path for flight. And when a new obstacle is detected or the position of the obstacle is updated, path planning is performed again. The problem that the path planning efficiency of the unmanned aerial vehicle and the success rate of obstacle avoidance are low is solved.

The invention discloses a modeling method and system for a hydrogen energy unmanned aerial vehicle cluster energy complementing scheme. The method comprises the steps that the flight process of an unmanned aerial vehicle is decomposed into a plurality of independent events; managing the independent events by adopting a three-alignment principle; calculating energy consumption in the flight process of the unmanned aerial vehicle based on a nonlinear energy consumption model; rasterization processing is carried out on the continuous flight space, obstacle avoidance planning is carried out on the flight path of the task unmanned aerial vehicle, and the flight path of the task unmanned aerial vehicle is formed; and circularly inserting random points in the flight path of the task unmanned aerial vehicle by using stack genetic programming to serve as energy complementing meeting points, and allocating the energy complementing meeting points to the corresponding energy complementing unmanned aerial vehicle path to form an energy complementing scheduling scheme. According to the method, complex constraints such as time, space and energy in a scene can be effectively modeled, a detailed model and a planning framework are provided for a collaborative energy complementing task of an unmanned aerial vehicle cluster, the difficulty of subsequent design of an optimization algorithm is reduced, the solving efficiency and feasibility are improved, and the accuracy of unmanned aerial vehicle planning is expected to be improved.

The invention relates to the technical field of unmanned aerial vehicle path planning, in particular to an unmanned aerial vehicle three-dimensional path planning method based on gradient guidance and adaptive cost. The method comprises the following steps: performing three-dimensional rasterization processing on a flight space of the unmanned aerial vehicle, and performing three-dimensional Euclidean distance transformation on each node in a free space to obtain a three-dimensional distance field; calculating the gradient of each node in the three-dimensional distance field, and generating an obstacle far-away direction vector of each node based on the gradient; constructing a three-dimensional gradient guide item; carrying out dynamic adjustment on an adaptive gradient weight factor in the three-dimensional gradient guide item; self-adaptive balance parameters are constructed, and the self-adaptive balance parameters are dynamically adjusted; constructing a three-dimensional total cost function; and node expansion is carried out by using a three-dimensional total cost function minimum principle, and a continuous flight path is generated. According to the method, intelligent adjustment of the search direction is realized by introducing the obstacle distance field and a gradient guiding mechanism, so that the safety and the calculation efficiency of path planning are improved.

The invention provides a self-driving deployment scheduling method and system for an electric power inspection unmanned aerial vehicle. According to the implementation scheme, under the condition that the salt mist concentration of a first height layer where a first unmanned aerial vehicle is located in a mud flat power grid area exceeds a first concentration threshold value, based on a second height layer, the first unmanned aerial vehicle is controlled to fly up within a first time period, and meteorological information is detected; on the basis of meteorological information detected by the first unmanned aerial vehicle in the flight process of the first time period, predicting second salt mist concentration distribution of a flight space corresponding to the mud flat power grid region in a second time period; and based on the second salt mist concentration distribution, re-planning the flight path of each second unmanned aerial vehicle flying in the flight space corresponding to the mud flat power grid region in the second time period to obtain a third predicted flight path of each second unmanned aerial vehicle, and controlling each second unmanned aerial vehicle to fly in the second time period according to each path. Therefore, the unmanned aerial vehicle is prevented from being attacked by salt mist.

The invention discloses an unmanned aerial vehicle track planning method based on an improved minimum jump. The method comprises the following steps: firstly, establishing a safe flight corridor in a flight space of an unmanned aerial vehicle to restrain discrete waypoints obtained in the previous step; smoothing the trajectory by using an algorithm based on minimum jump; and finally, in order to solve the overall safety problem of the trajectory, selecting and utilizing a multi-section Bezier curve to replace a fifth-order polynomial in a minimum jump algorithm, establishing a series of constraint conditions, and finally generating a smooth safety path meeting the dynamic constraint of the unmanned aerial vehicle. The path generated by trajectory planning conforms to the dynamic constraint of the unmanned aerial vehicle and can effectively avoid obstacles, the safe and smooth path can be planned through the provided obstacle avoidance system in the near-earth complex environment, and the condition that the unmanned aerial vehicle works efficiently and safely in the complex high-density obstacle environment is met.

The invention belongs to the technical field of unmanned aerial vehicle path planning, and particularly relates to an unmanned aerial vehicle path planning method based on a hybrid improvement strategy, which comprises the following steps of: 1, establishing a three-dimensional model of an unmanned aerial vehicle flight space; 2, determining a flight cost function of the unmanned aerial vehicle according to path length, collision, flight height and path smoothness; step 3, initializing parameters; step 4, using a Harlisia eagle algorithm HHO and an Aquila optimizer in a heuristic algorithm to finally provide a brand-new hybrid improved strategy algorithm named as an EAOHHO algorithm, and then using the EAOHHO algorithm to optimize the flight cost function; and 5, taking a path obtained by searching according to an EAOHHO algorithm as a trajectory path of the unmanned aerial vehicle. According to the method, the fast search capability of the HHO and the global exploration advantage of the AO are deeply fused, the fitness-distance balance FDB mechanism is innovatively introduced, and the convergence efficiency and robustness of the algorithm are remarkably improved.

The invention discloses an unmanned aerial vehicle approaching image acquisition method based on incremental reconstruction. The method comprises the following steps: performing oblique photography or multi-view image acquisition on a target structure by using an unmanned aerial vehicle, and reconstructing the target structure into a low-precision point cloud; dispersing the three-dimensional grid model of the target structure into point clouds, and matching the point clouds with low-precision point clouds to serve as target point clouds; acquiring a flight space and an image acquisition candidate point set; establishing a camera main view model at each image acquisition candidate point; target grid visual information under each camera model is calculated; dividing the visible target grids into I-class grids and II-class grids, and obtaining an effective viewpoint set; obtaining a working viewpoint from the effective viewpoint set; and generating an unmanned aerial vehicle flight path in the flight space based on the working viewpoint coordinates. According to the method, the unmanned aerial vehicle flies close to the target structure through the viewpoint preprocessing method, and the image pixel precision is improved; static obstacle avoidance of the unmanned aerial vehicle is realized through a viewpoint preprocessing method; and through a viewpoint screening method, the three-dimensional reconstruction precision is ensured.

The application belongs to the field of aircraft auxiliary take-off equipment, and particularly relates to an aircraft launching system and an aircraft. The aircraft launching system comprises a driving part I and a fixed releasing mechanism. The output end of the driving part I has a circular circumferential rotation stroke or a linear movement stroke. The fixed releasing mechanism comprises a support, a fixed releasing rod and two connecting rods, and the support, the fixed releasing rod and the two connecting rods form a parallelogram mechanism. The support is arranged opposite to the fixed releasing rod. The support is connected with the output end of the driving part I. The fixed releasing rod is provided with a fixed releasing structure for fixing and releasing the aircraft. The fixed releasing mechanism formed by the parallelogram mechanism can lower the fixed releasing rod to leave a flight space when the aircraft takes off, so that the aircraft can be prevented from colliding with the fixed releasing mechanism when taking off, and the use safety of the launching system is improved.

The invention discloses an air traffic stability control method, which belongs to the technical field of intelligent management of air traffic management, and comprises the following steps: constructing an aircraft flight space-time sequence based on high-altitude cruise aircraft information; calculating a relative flight position interval and a relative flight speed between the aircrafts based on the flight space-time sequence of the aircrafts; based on the relative flight position interval and the relative flight speed between the aircrafts, constructing an aircraft car-following model containing time-delay band bidirectional attention; based on the aircraft car-following model, constructing air traffic stability judgment conditions; and based on the air traffic stability judgment condition, the aircrafts in the unstable state are screened for feedback control, and the air traffic stability is guaranteed. According to the method, the air traffic stability condition can be judged, feedback control is performed by screening aircrafts in an unstable state, and the air traffic stability is guaranteed.

The present disclosure provides a method for acquiring airspace information, a method for sending airspace information, a communication-aware terminal, an airspace information sending device, a storage medium and a computer program product, wherein the method for acquiring airspace information comprises: the communication-aware terminal acquires flight airspace information corresponding to a base station and valid time information corresponding to the flight airspace information based on a received airspace indication message; or acquires pre-configured flight airspace information and valid time information. The present disclosure can expand the sensing range of the communication-aware terminal, expand the available flight space range of the communication-aware terminal while ensuring the sensing of the communication-aware terminal, and improve flight efficiency and safety.

The invention relates to the technical field of aircraft control, and particularly provides an aircraft obstacle avoidance method and device, a storage medium and electronic equipment, and the method can comprise the steps: obtaining a future movement track of an obstacle in a flight region of an aircraft; constructing a space-time risk potential field based on the future movement track and the flight state information of the aircraft at the current moment; wherein the flight state information comprises an aircraft position and an aircraft speed; the space-time risk potential field represents the risk degree of collision between the obstacle and the aircraft in the physical space; the space-time risk potential field comprises a safe flight space; predicting a flight reference trajectory of the aircraft through the flight state information; and correcting the flight reference trajectory by using the space-time risk potential field to obtain an obstacle avoidance trajectory of the aircraft. According to the embodiment of the invention, the obstacle avoidance capability and precision of the aircraft can be improved.

In a TOFMS measurement unit, an ion acceleration section accelerates ions to send them into a flight space, within which a flight-field creation section creates, an electric field for causing ions to fly. A controller unit operates the measurement unit so as to repeat a measurement for a predetermined sample while varying a voltage applied to an electrode in the measurement unit, and calculates mass-resolving power based on each measurement result. An approximate function calculator unit finds an approximate function representing a relationship between the voltage and the mass-resolving power, based on data of combinations of the voltage and the mass-resolving power obtained under the control of the controller unit. A voltage determiner unit determines a voltage value corresponding to a target value of the mass-resolving power by the approximate function, and determines the voltage value as a voltage to be applied to the electrode in the TOFMS concerned.

This application relates to the field of aircraft technology, providing an obstacle recognition method and an aircraft. The method involves predicting the voxel occupancy distribution of the aircraft's flight space using the aircraft's current circumferential image, and generating candidate reflection regions based on this distribution. Candidate obstacles within these reflection regions are then used to arbitrate mirror-image false detections. This arbitration process first eliminates candidate obstacles that are not obstructed by the aircraft, treating the remaining obstacles as mirror-image false detection candidates. Then, multi-dimensional state information is used to establish a one-to-one binding relationship between the mirror-image false detection candidate obstacles and the real obstacles. Finally, a consistency check confirms the true identity of the mirror-image false detection candidate obstacles, thereby achieving accurate judgment of mirror-image false detections, improving obstacle recognition accuracy, and effectively ensuring the flight stability and safety of the aircraft.

A method and apparatus for separating particles of a particle stream of crushed concrete, in particular end-of-life concrete, is disclosed. The apparatus comprises a first actor arranged to act on particles of the stream to make the particles follow primary flight trajectories and a primary flight space arranged adjacent the actor for particles that have been acted on to follow primary flight trajectories therethrough so as to effect separation of the particles, as well as at least one further actor arranged to act on particles to make the particles of the second group follow secondary flight trajectories, and a secondary flight space adjacent the second discharge for discharged particles of the second group to follow secondary flight trajectories therethrough to effect further separation of the particles of the second group.

The invention relates to the technical field of flight control, and particularly provides an aircraft route planning method and device, a storage medium and electronic equipment, and the method can comprise the steps: screening candidate sub-graphs meeting a flight task from a pre-constructed route knowledge graph; wherein the candidate sub-graph comprises at least one corridor path; one corridor path represents one connected area; the route knowledge graph is constructed by taking a plurality of corridor paths of a flight space as entities and semantic relationships and entity feature vectors of the entities; calculating a relation score of each corridor path in the at least one corridor path; and determining a flight route for executing the flight task from the at least one corridor path according to the relation score of each corridor path. According to the embodiment of the invention, efficient low-altitude route planning can be realized for the aircraft.

The invention provides an airspace information obtaining method, an airspace information sending method, a communication sensing terminal, an airspace information sending device, a storage medium and a computer program product device. Acquiring flight airspace information corresponding to the base station and effective time information corresponding to the flight airspace information; or acquiring pre-configured flight airspace information and effective time information. The sensing range of the communication sensing terminal can be expanded, the available flight space range of the communication sensing terminal can be expanded on the premise of ensuring the sensing of the communication sensing terminal, and the flight efficiency and safety are improved.