226 results about "Ground control station" patented technology

The invention provides an intelligent autonomous obstacle avoidance and path optimization system for an AI unmanned aerial vehicle, and aims to realize efficient autonomous obstacle avoidance and optimal path planning of the unmanned aerial vehicle in a complex environment by integrating a plurality of sensor data fusion technologies, edge calculation processing and an advanced artificial intelligence algorithm. The system comprises a sensing module, a data processing module, an artificial intelligence decision module, an execution module and a communication module. Wherein the sensing module acquires environmental data in real time through various sensors such as a laser radar, a high-definition camera, an infrared sensor and an ultrasonic sensor; the data processing module performs data preprocessing and fusion by using edge computing equipment to generate a high-precision environment model; the artificial intelligence decision module comprises an obstacle avoidance sub-module and a path optimization sub-module which are respectively based on a deep learning algorithm and a reinforcement learning algorithm to realize identification and avoidance of dynamic and static obstacles and optimal path planning; the execution module controls the flight attitude, speed and course of the unmanned aerial vehicle according to the decision instruction; the communication module realizes real-time data communication between the unmanned aerial vehicle and a ground control station or other unmanned aerial vehicles, and supports cooperative flight and task allocation. According to the system, through combination of multi-sensor fusion and an advanced algorithm, the flight safety of the unmanned aerial vehicle is improved, the task execution efficiency is remarkably improved, and the system has wide application prospects and remarkable technical advantages.

The invention discloses an unmanned aerial vehicle edge intelligent analysis terminal based on a single Beidou, and relates to the technical field of satellite navigation and unmanned aerial vehicles, and the terminal comprises an edge calculation unit which is in communication connection with a high-definition image collection module, a high-precision positioning module, a Beidou short message communication module and a ground control station; the high-definition image acquisition module is used for acquiring high-definition image data through a CMOS (Complementary Metal Oxide Semiconductor) sensor; the high-precision positioning module is used for acquiring centimeter-level positioning data in the flight process of the unmanned aerial vehicle through an RTK technology and an INS system; the edge calculation unit is used for carrying out target recognition through a lightweight convolutional neural network in combination with a YOLOv5 target detection algorithm; the Beidou short message communication module is used for realizing short message communication between the unmanned aerial vehicle and a ground control station by using RDSS service; and the ground control station is used for creating a user interface by using Qt, carrying out data visualization through Tableau and adopting a security protocol. According to the scheme, remote control, remote information transmission and high-precision positioning functions in a complex environment of the unmanned aerial vehicle are realized.

The invention discloses an unmanned aerial vehicle automatic test method, which comprises the steps of building a high-fidelity semi-physical simulation platform which comprises an unmanned aerial vehicle motion simulator, a three-dimensional environment simulator, a flight control module and a ground control station, and loading a complete machine fault model and a dynamic environment model; designing an intelligent multi-fault injection scheme, and defining a single fault scene, a combined fault scene and a fault evolution scheme; configuring a dynamic environment simulation scene including static environment parameters, dynamic environment elements and environment, and a fault interaction scene; executing a self-adaptive test process, automatically generating a test case, intelligently scheduling a test sequence and dynamically adjusting test parameters; and performing multi-source data intelligent analysis and evaluation, collecting test data, performing fusion analysis on fault influence, and generating an evaluation report. By constructing a whole machine fault and dynamic environment model, the scene authenticity is improved by 40%, and for example, the motor fault yaw deviation under strong wind is closer to a real machine compared with a traditional method.

The invention discloses an unmanned aerial vehicle autonomous obstacle avoidance and path planning system, which relates to the technical field of unmanned aerial vehicle systems and covers cooperative work of multiple sensors including environment perception, data fusion processing, path planning, flight control, communication, autonomous decision making, power management, a ground control station, system self-inspection and calibration, a load adaptation and optimization module and an environment perception module. The data fusion processing module is used for precisely fusing data; the path planning module generates an optimized path; the flight control module flies stably; the communication module guarantees communication; the autonomous decision-making module makes a decision intelligently; the power management module optimizes a power supply; the ground control station realizes monitoring and operation; a system self-inspection and calibration module ensures reliability; the load adaptation and optimization module adapts to different loads, and all the modules achieve efficient flight of the unmanned aerial vehicle. The flight safety and operation efficiency of the unmanned aerial vehicle are improved, accurate obstacle avoidance and intelligent path planning are achieved, the stability and reliability of the system are enhanced, and wide application and development of the unmanned aerial vehicle technology in multiple fields are promoted.

The invention discloses a multi-mode water-air-land cross-medium cooperative sensing system and method based on an MEMS (Micro Electro Mechanical System). The system comprises an underwater robot, a buoy station, an unmanned aerial vehicle and a ground control station, each node is provided with an MEMS sensor integrating acoustics, optics, magnetism, inertia and other modes, and data transmission and relay are achieved through acoustics, optical communication and radio links. And the ground control station carries out fusion processing, target identification and decision control on multi-source data through time synchronization and space registration, and issues a cooperative instruction to each node to realize a perception-decision-re-perception closed loop. The method comprises five steps of node deployment and calibration, multi-modal data acquisition, hierarchical transmission and sharing, adaptive weighted fusion and closed-loop cooperative control. According to the invention, global coverage, high-precision and multi-mode environment and target perception can be provided in a complex water-air-land environment, and the detection reliability and the communication efficiency are significantly improved.

The invention discloses a highway bridge plate-type rubber support rapid inspection method and system based on an unmanned aerial vehicle, and the method comprises the steps: shooting a multi-view image of a bridge and ancillary facilities through the unmanned aerial vehicle, building a bridge surface three-dimensional live-action model with position information, determining the specific coordinate position of the support, and carrying out the detection of the position of the support. Planning a multi-point inspection flight route of the unmanned aerial vehicle support; the planned flight route is imported into an unmanned aerial vehicle remote controller, the unmanned aerial vehicle flies to the bridge position according to a preset route, and a high-definition camera device is used for collecting image data of the plate-type rubber support; the unmanned aerial vehicle transmits collected image data back to the ground control station in real time, and the ground control station performs primary processing and storage on the data; image data preliminarily processed by the ground control station is transmitted to a data analysis processing unit, the apparent state of the plate-type rubber support is comprehensively evaluated, and a detailed detection report is generated; according to the method, targeted detection can be carried out on the bridge support, and the disease type and the disease degree of the support can be quickly and accurately identified.

A system for control of a firefighting operation including a ground control center with a command terminal for managing assets that include manned and unmanned aerial vehicles, a communications network, a mission planning software application, and a command-and-control software application. The ground control station may include secondary terminals for managing larger operations. The software applications produce displays that are oriented to a common rasterized map display. A computer-implemented method for planning a firefighting operation comprising determining a mission objective, assessing a mission environment, designing a route to accomplish the objective, deconflicting the new mission from planned missions, and adding the new mission to an operational plan. A computer-implemented method of assessing a mission comprising determining whether a mission was executed according to plan, determining whether an actual retardant drop footprint matches the planned footprint, and determining whether the actual footprint achieved the mission objective.

The invention discloses an unmanned aerial vehicle communication link accurate interference device and method, and the device comprises a ground control station which is used for transmitting a first signal to an unmanned aerial vehicle and receiving a second signal transmitted by the unmanned aerial vehicle; and the unmanned aerial vehicle interference station is used for receiving and processing the first signal sent by the ground control station and the second signal sent by the unmanned aerial vehicle, and sending a third signal to the unmanned aerial vehicle. According to the invention, the characteristics of the flight control command signal emitted by the ground control station are determined by analyzing the downlink communication link, the spatial orientation characteristics of the unmanned aerial vehicle are determined by analyzing the uplink communication link, and finally the third signal, namely the interference signal, which can effectively interfere with the flight control command signal is emitted to the unmanned aerial vehicle. And accurate interference on the communication link of the unmanned aerial vehicle is realized.

The present invention relates to the technical field of intelligent unmanned aerial vehicles, and particularly to a fixed-point delivery device and operation method for an unmanned aerial vehicle; Technical problem: The attitude pre-adjustment of the fixed-point delivery device for an unmanned aerial vehicle in the prior art is insufficient, the delivery control is inaccurate, and the attitude feedback and adjustment mechanism is imperfect; Technical solution: A fixed-point delivery device and operation method for an unmanned aerial vehicle, including an unmanned aerial vehicle frame, an integrated sensor module, a signal transmission module, a bracket, and a delivery component; The present invention precisely pre-adjusts the attitude of the unmanned aerial vehicle through a ground control station to ensure that the unmanned aerial vehicle is in the best stable state before delivery. According to the real-time position and attitude data of the unmanned aerial vehicle, the opening and closing timing and force of the electric telescopic rod and the electromagnetic block are dynamically adjusted to improve the accuracy and reliability of delivery. When the unmanned aerial vehicle has an attitude deviation, the deviation can be corrected through the attitude feedback and adjustment mechanism to ensure that the unmanned aerial vehicle can fly stably and complete the subsequent delivery task.

The invention discloses an airborne camera equipment intelligent control method and system based on edge calculation, and relates to the field of unmanned aerial vehicle intelligent control, and the method comprises the steps: carrying out the self-inspection and initialization of an unmanned aerial vehicle after the unmanned aerial vehicle is started, and planning a flight path and a shooting point according to an inspection task issued by a control station; the unmanned aerial vehicle flies according to a planned path, airborne camera equipment starts to shoot, and an edge calculation unit processes image data in real time and performs fine identification and automatic focusing; a sensor loaded on the unmanned aerial vehicle senses the flight environment in real time, and an edge calculation unit adjusts camera parameters and flight attitudes according to sensed data; and after the inspection task is completed, the unmanned aerial vehicle automatically returns, and the ground control station analyzes and processes the collected data. By automatically planning a flight path and a shooting point, manual intervention is reduced, an edge calculation unit is introduced, automatic focusing and real-time adjustment of camera parameters can be realized according to image data and perception data, high-quality image acquisition is ensured, and secondary re-flight caused by inaccurate focus is avoided.

The invention provides a quadruped robot cooperative mooring unmanned aerial vehicle photovoltaic inspection method and device, and the method comprises the steps: obtaining a global image through a photovoltaic power station fixed monitoring network, and positioning a space coordinate set of a suspected fault region based on a visual analysis algorithm; decomposing the space coordinate set into an ordered inspection sequence by using a ground control station, and issuing path planning parameters to a quadruped robot; the quadruped robot is controlled to autonomously navigate to target coordinates according to the path planning parameters, and the mooring unmanned aerial vehicle is released after the posture is stabilized; executing three-dimensional scanning and multispectral imaging by using the mooring unmanned aerial vehicle, returning a fused sensing data packet in real time, and marking abnormal confidence; and after the diagnosis is completed, controlling the mooring unmanned aerial vehicle to autonomously land to the back of the quadruped robot, and dynamically updating an inspection sequence based on the abnormal confidence until the inspection is completed. And the tethered unmanned aerial vehicle is transported through the quadruped robot, so that the operation in a no-fly area is effectively solved, and the inspection efficiency of the unmanned aerial vehicle on the photovoltaic power station is improved.

The invention discloses a power grid unmanned aerial vehicle inspection method suitable for a complex terrain area, and the method comprises the steps: S1, obtaining the terrain point cloud data and image data of the complex terrain area, and forming a three-dimensional terrain model; s2, performing overlay analysis on the power grid layout information and the three-dimensional terrain model through a geographic information space analysis technology, and planning a flight route of the unmanned aerial vehicle; s3, performing routing inspection according to the flight route and an unmanned aerial vehicle power grid global coverage routing inspection technology to obtain original power grid image data; s4, transmitting the original power grid image data to a ground control station through a wireless communication link, and processing the original power grid image data through deep learning to obtain defect positions and types; and S5, generating an inspection report according to the position and the type of the defect, and pushing the inspection report to operation and maintenance personnel through network communication for equipment maintenance and fault processing. The problems of low efficiency, high labor cost, incomplete data acquisition and inaccurate defect identification in complex terrains are solved, and the efficiency and accuracy of power grid inspection are improved.

The invention discloses a livestock identity recognition method and system based on an unmanned aerial vehicle, and relates to the technical field of livestock identity recognition, and the method comprises the steps: constructing an identity information database which comprises the electronic ear tag IDs of all target livestock individuals in a pasture, a visible light feature image, an infrared thermal imaging contour template and a historical motion behavior sequence in a cloud server; initialization of an unmanned aerial vehicle system carrying a visible light camera, an infrared thermal imager, an RFID reader and an edge calculation module is completed, and communication connection between the unmanned aerial vehicle system and a ground control station and between the unmanned aerial vehicle system and a cloud server is established; controlling the unmanned aerial vehicle to enter an inspection area, monitoring a ground target through a visible light camera, synchronously acquiring a visible light image, an infrared thermal image and a radio frequency response signal of a target individual when the livestock is detected to enter an effective identification range, and performing timestamp alignment on the three types of data; a first visual feature vector is extracted from the visible light image and a visual confidence score is generated.

The invention discloses an unmanned aerial vehicle access authentication method based on LORA communication, relates to the technical field of unmanned aerial vehicles, is applied between a ground control station and an unmanned aerial vehicle terminal, and realizes the functions of meteorological data acquisition, main intention data reporting and the like of an unmanned aerial vehicle under different base station conditions by using LORA as a communication carrier. Wireless transmission is used, so that the system can be quickly deployed to a multi-point position, complicated infrastructure construction is not needed, and the response speed of the communication system is greatly improved; the ground control station nodes can dynamically adjust the access number according to communication requirements and environment changes so as to optimize communication links and improve communication quality; no fixed communication line needs to be laid or facilities such as a base station need to be built, construction and maintenance cost is reduced, and economic benefits of a communication system are improved.

The invention discloses an unmanned aerial vehicle real-time data analysis model construction method based on a block chain, and relates to the technical field of unmanned aerial vehicle communication, and the method comprises the steps: an unmanned aerial vehicle builds an ad-hoc mesh network through a 5G NR-U frequency band, a ground control station carries out the validity verification, generates an initial network topological graph, builds a private block chain network based on a Hyperledger Fabric framework, and generates a creation block; collecting video stream data, recording attitude data by an inertial measurement unit, and generating a compressed data packet; the unmanned aerial vehicle scans a fuselage metasurface pattern through a terahertz emitter to obtain a scattering feature matrix, generates a composite hash value and adds the composite hash value to the compressed data packet to form a to-be-transmitted data packet; and measuring the refractive index structure constant of the current area to obtain the turbulence intensity grade. According to the method, physical fingerprint features are obtained through terahertz scanning of a fuselage metasurface, an anti-interference hash value is generated in combination with space-time parameters, hardware-level identity authentication is achieved, and the risk of unmanned aerial vehicle identity cloning is fundamentally eradicated.

The present application relates to the technical field of wind power generation. Disclosed are a wind turbine blade inspection method and apparatus based on collaborative orchestration of unmanned aerial vehicles, and a storage medium. The method comprises: acquiring the length of a wind turbine blade; determining an imaging area on the basis of the length of the wind turbine blade, and dividing the imaging area into a plurality of identical imaging sub-areas; acquiring the central normal of a rotational plane of the wind turbine blade, and providing a first unmanned aerial vehicle at a second target distance in the direction of the central normal; on the basis of the first unmanned aerial vehicle, providing a second unmanned aerial vehicle at the center of each of the plurality of imaging sub-areas; photographing the wind turbine blade on the basis of both the first unmanned aerial vehicle and a plurality of second unmanned aerial vehicles, so as to acquire a plurality of imaging pictures of the wind turbine blade; and transmitting the plurality of imaging pictures to a ground control station, and processing the plurality of imaging pictures, so as to form an inspection report. In the present application, area-based photography is performed by means of a plurality of unmanned aerial vehicles, such that when a wind turbine is not shut down, photographic inspection can be performed on the entire wind turbine, thereby improving the work efficiency, and also reducing economic losses.

A pipeline length and tightness degree self-adaptive control system of a wall-climbing robot comprises a sensor and an automatic adjusting device. The sensors are arranged on a pipeline and a control circuit of the wall-climbing robot, the sensors comprise a tension sensor and a length sensor, and the tension sensor and the length sensor are used for monitoring the tightness degree and the length change of the pipeline and the control circuit in real time and transmitting sensor data to a ground control station or a control system of the robot in real time. The automatic adjusting device is a wire spool, and the wire spool is driven by a motor to rotate, drives the pipeline and controls the line to be wound and unwound.

The invention belongs to the field of flight platform simulation design, and discloses a flight platform simulation integrated device based on man-unmanned interaction. The device comprises a manned aerial vehicle platform basic excitation device, a manned aerial vehicle task system excitation device, an unmanned aerial vehicle platform basic excitation device, an unmanned aerial vehicle ground control station excitation device, a network management simulation device and a data link message access device. According to the method, high requirements are provided for information services according to systematic application requirements, and no excitation environment based on a typical platform exists in systematic integration verification currently. In view of completeness and credibility of system integration verification, an aviation platform digital prototype close to the reality needs to be built urgently, and the product designed by the invention provides interface adaptation of manned aircraft / unmanned aerial vehicle infrastructure, task system equipment, network management and links, guarantees simulation test verification of a universal platform, and has a wide application prospect. A verification environment is provided for platform integration design and verification work in the actual technical state of the platform, the problems of platform integration design and the like in the actual state of the platform are solved, the verification environment is provided for verification work, and a universal simulation test platform is provided for system integration verification.

The invention discloses an eVTOL aircraft ground control device based on a multi-link adaptation and response mechanism, and belongs to the technical field of eVTOL aircraft communication and control. The device comprises an instruction distribution module, a multi-link management module, a frame construction module and an error control module. The instruction distribution module is responsible for cooperating with eVTOL aircraft information to send a corresponding flight control instruction according to an actual condition; the multi-link management module evaluates a plurality of communication links (including a main link, a standby link and an emergency link) in real time and is used for sending different instructions; the frame construction module constructs an extended interactive data frame based on the MAVLink protocol, and the data frame comprises a plurality of control fields for control; the device also has an error control mechanism, and a closed-loop control system is completed through the mechanism. Through the method, the instruction reliability of the ground control station in a complex communication environment and the stability of an eVTOL aircraft system can be effectively improved.

The invention relates to the technical field of unmanned aerial vehicle application, and discloses a multi-degree-of-freedom dynamic light field system based on an unmanned aerial vehicle, a cooperative control method of the multi-degree-of-freedom dynamic light field system and a dynamic light field device. The ground control station is used for editing programs and sending instructions; the unmanned aerial vehicle group is composed of a plurality of unmanned aerial vehicles carrying the dynamic light field devices; the communication unit is used for establishing a data link between the ground control station and the unmanned aerial vehicle group; and the main controller on each unmanned aerial vehicle sends cooperative control signals to the flight control system, the first driving mechanism and the second driving mechanism of the unmanned aerial vehicle. Through the synergistic effect of the first driving mechanism and the second driving mechanism, the rotation of the rotating drum in the vertical direction can be controlled, and meanwhile, the rotation of each ball head assembly in the horizontal direction can also be controlled, so that irradiation of each laser module in different azimuth angles within a certain angle range can be realized, and the display effect of the unmanned aerial vehicle group light curtain is improved.

An aircraft includes a flight plan and contingency data including a plurality of contingency landing sites. An aircraft communication system communicates with a ground control station via a communication link and detects a lost communication scenario in response to degradation in the communication link. An aircraft flight control system controls the aircraft en route according to the flight plan. In response to detecting the lost communication scenario, the flight control system routes the aircraft back to a last known location in which the communication link was not degraded. In response to failure to re-establish the communication link, the flight control system selects a landing site based on a current aircraft location relative to a plurality of potential landing sites including an origin airport, a destination airport, and a first continency landing site. The flight control system controls the aircraft to approach and land at the selected landing site.

The invention relates to the technical field of geophysical exploration, in particular to a semi-aviation transient electromagnetic detection system based on cooperation of a robot dog and an unmanned aerial vehicle, and the system consists of a robot dog platform, an unmanned aerial vehicle platform and a ground control station. The robot dog platform comprises a high-power transient electromagnetic transmitter, a line source laying module, a voice warning module and a mobile positioning module, and can automatically lay a line source and inject pulse current to the ground; the unmanned aerial vehicle platform comprises a visual field auxiliary module, a flight driving module and a receiving coil, and the coil can be dragged according to a preset route to collect electromagnetic data; the ground control station is used for job scheduling and data processing. Wiring-transmitting-receiving integrated collaborative operation is realized through the robot dog and the unmanned aerial vehicle, and the robot is suitable for detection of a complex mountain environment.

An aircraft includes a flight plan and contingency data including a plurality of contingency landing sites. An aircraft communication system communicates with a ground control station via a communication link and detects a lost communication scenario in response to degradation in the communication link. An aircraft flight control system controls the aircraft en route according to the flight plan. In response to detecting the lost communication scenario, the flight control system routes the aircraft back to a last known location in which the communication link was not degraded. In response to failure to re-establish the communication link, the flight control system selects a landing site based on a current aircraft location relative to a plurality of potential landing sites including an origin airport, a destination airport, and a first continency landing site. The flight control system controls the aircraft to approach and land at the selected landing site.

The invention discloses an unmanned aerial vehicle GPS autonomous inspection method, system and device and a medium, and the method comprises the following steps: obtaining inspection task data of an inspection area, the inspection task data comprising a historical defect database and a preset route; according to defect position distribution recorded in a historical defect database, dividing the inspection area into a plurality of positioning precision grade areas; the unmanned aerial vehicle collects an inspection image in the flight process and performs defect identification on the inspection image to obtain a defect identification result; when the defect identification result shows that an abnormal state is detected, acquiring a position coordinate corresponding to the abnormal state, and uploading defect positioning data to a ground control station; and updating the historical defect database according to the newly added defect positioning data. According to the method, the limitation of a global unified positioning mode in the traditional technology is broken through, a carrier phase difference positioning mode is automatically started in a defect high-incidence area and the periphery of a high-risk defect, and it is ensured that the defect of a key position can be accurately calibrated and tracked.

The invention relates to the technical field of computer-aided teaching, and particularly discloses a fuel cell unmanned aerial vehicle modular teaching practical training system based on industrial practical training, which comprises a hardware entity, and the hardware entity comprises a hydrogen fuel cell unmanned aerial vehicle module as a core flight platform of the system; the data acquisition and communication relay module is used for acquiring multi-source data and performing wireless communication with the software platform; the hydrogen fuel cell unmanned aerial vehicle module, the ground control station module and the data acquisition and communication relay module are modularly connected through standardized interfaces. According to the invention, the hydrogen fuel cell unmanned aerial vehicle module with a standardized interface is combined with various detachable sub-modules, so that flexible expansion of a hardware level and effective restoration of a real industrial scene are realized. Taskered training and a fault case library are introduced through the industry practical training subsystem, so that trainees can master operation and diagnosis capabilities in an environment close to a real industry.

The invention provides an autonomous radar communication system based on a star chain, which relates to the technical field of air-ground unmanned systems and comprises an unmanned aerial vehicle, a ground control station and a remote controller. The unmanned aerial vehicle is provided with a Pixhawk 6x flight controller, an OFDM communication module, an OFDM radar module and a camera, the ground control station is connected with the PC through the OFDM communication module and operates task planning software, and the remote controller communicates with the unmanned aerial vehicle through an SBUS-UART module. The system adopts an orthogonal frequency division multiplexing (OFDM) technology and a star chain mesh topology, and combines a non-line-of-sight (NLOS) protocol, so that the air-to-ground communication range reaches 20 kilometers, and the ground-to-ground communication range reaches 3-5 kilometers. Through the dynamic frequency band switching and frequency hopping anti-interference technology, the data transmission stability and the anti-interference capability are improved, multi-node task management and communication between the unmanned aerial vehicle and the robot are supported, the system is suitable for remote control and data acquisition scenes in a complex environment, and an efficient solution is provided for intelligent agriculture, disaster monitoring and the like.

The utility model discloses an unmanned aerial vehicle hosting test device which comprises an upper clamp and a lower clamp which are used for fixing an unmanned aerial vehicle, the clamps are connected with a suspender, the upper end of the suspender is connected with the front end of a safety rope, the safety rope has a safety length, and the safety rope passes through a pulley installed on a cross beam and the rear end of the safety rope is connected with a take-up and pay-off wheel on a motor. The motor rotates to control winding and unwinding of the safety rope, the upper end of the suspender is connected with the linear displacement sensor, the linear displacement sensor monitors the moving distance and speed of the suspender, and the motor is controlled to wind and unwind the safety rope through the linear displacement sensor. The device is provided with an emergency button, when the emergency button is pressed down, the unmanned aerial vehicle ground control station receives a signal to control the unmanned aerial vehicle to stop propellers, and the motor rapidly retracts the safety rope with the safe length. The safety rope slowly lifts the unmanned aerial vehicle to a test initial position.

The invention relates to the technical field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle control method capable of improving flight safety, which comprises a flight control system, a power system, a detection system, an avoidance system, a redundancy control system and a data encryption and communication system. The redundancy control system is used for providing an additional control channel, and can take over flight control when the main control system breaks down to ensure safe landing or return flight of the unmanned aerial vehicle; the data encryption and communication system is used for ensuring communication security between the unmanned aerial vehicle and the ground control station and preventing data leakage or hostile attack. Communication data between the unmanned aerial vehicle and the ground control station can be realized through the data encryption and communication system, the data safety is ensured, the flight safety is improved, and the redundancy control system and the main control system can work in parallel, so that flight control can be taken over when the main control system breaks down, and safe landing or return flight of the unmanned aerial vehicle is ensured. The flight safety of the unmanned aerial vehicle is improved.

The invention belongs to the field of unmanned aerial vehicle cluster scheduling and wireless self-organizing networks, and relates to a multi-unmanned aerial vehicle forest fire extinguishing cooperative scheduling system based on a Mesh network, which comprises a ground control station responsible for strategy generation, task distribution coordination and remote scheduling control; a plurality of unmanned aerial vehicles equipped with communication and sensing modules form a honeycomb Mesh network to realize detection, relaying and fire extinguishing; the air Mesh communication network is dynamically constructed, comprises a backbone layer and an access layer, and supports distributed control and collaborative operation; the data sensing and sensing system is used for fusing information such as images, temperature and infrared rays to carry out fire behavior identification; and the task scheduling and energy management module supports task division, path planning and endurance guarantee. According to the system, an integrated closed-loop process of sensing, communication, scheduling and fire extinguishing is realized, and the response speed of forest fire extinguishing, the resource scheduling efficiency and the fire extinguishing accuracy are improved.

The invention belongs to the technical field of underwater measurement systems, and particularly relates to a novel unmanned aerial vehicle mounting type water depth measurement system which comprises an unmanned aerial vehicle platform, a GPS-RTK module, a photographing lens, a detection host, a data transmission line, a depth measurement probe, a data recording trigger device and a ground control station. The GPS-RTK module, the photographing lens and the detection host are all mounted on the unmanned aerial vehicle platform; the detection host is connected with the sounding probe through a data transmission line. Through real-time differential positioning of the GPS-RTK module, centimeter-level positioning precision can be provided, the position accuracy of sounding data is ensured, compared with traditional shipborne GPS positioning, the precision is improved by one order of magnitude, the unmanned aerial vehicle platform is matched to reach water areas where traditional ships cannot reach, such as shoals, narrow riverways and upstream of reservoirs, and the unmanned aerial vehicle platform is matched with the unmanned aerial vehicle platform to reach the water areas where the traditional ships cannot reach. The application range of sounding is greatly expanded, and meanwhile, the hovering capability and the accurate controllability of the unmanned aerial vehicle enable the sounding operation to be more flexible and efficient.