CN105766046B - A kind of communication means, unmanned vehicle and unmanned vehicle control device - Google Patents
A kind of communication means, unmanned vehicle and unmanned vehicle control device Download PDFInfo
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- CN105766046B CN105766046B CN201580002668.2A CN201580002668A CN105766046B CN 105766046 B CN105766046 B CN 105766046B CN 201580002668 A CN201580002668 A CN 201580002668A CN 105766046 B CN105766046 B CN 105766046B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04J4/00—Combined time-division and frequency-division multiplex systems
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Abstract
A kind of communication means, unmanned vehicle and unmanned vehicle control device, mutual interference can be reduced in the application scenarios that multi-user coexists, so as to lift Consumer's Experience.Present invention method is communicated for unmanned vehicle control device based on TDD pattern with unmanned vehicle, including：In the ascending time slot of tdd mode, the unmanned vehicle control device sends upward signal using first carrier to the unmanned vehicle；In the descending time slot of tdd mode, the unmanned vehicle control device receives the downstream signal of the unmanned vehicle transmission using the second carrier wave；Wherein, corresponding first frequency range of the first carrier, corresponding second frequency range of second carrier wave, and first frequency range and second frequency range be not overlapping.
Description
Technical field
The present invention relates to communication technical field, more particularly to a kind of communication means, unmanned vehicle and unmanned vehicle
Control device.
Background technology
At present, the positive industry-by-industry infiltration of the application of unmanned vehicle, and as the civilian of unmanned vehicle becomes increasingly popular,
There is provided stable point-to-point two-way communication (communication between unmanned vehicle and unmanned vehicle control device) Consumer's Experience,
Requirement in terms of air security becomes more and more urgent.
Existing unmanned vehicle control device generally use TDD (Time Division Duplexing, time division duplex)
Pattern communicates with unmanned vehicle, wherein, TDD distinguishes wireless channel and continuation in time in the downlink operation in frame period
A kind of technology of uplink operation, receive and transmit generally in the different time-gap of same frequency channel (i.e. carrier wave), use the time
Channel is received and transmits to separate.Under the application scenarios of single user, although uplink downlink uses identical frequency channels,
Because the transmission of upward signal and the reception of downstream signal are set at different time slots, up-link and downlink will not go out
Now disturb.However, when being related to the application scenarios that multi-user coexists, the uplink downlink of a certain user may be to another user
Uplink downlink interfere.
Illustrated with the application scenarios that two users coexist：User A holds unmanned vehicle control device A and nobody flies
Row device A, user B hold unmanned vehicle control device B and unmanned vehicle B, the characteristics of based on unmanned vehicle practical application,
Between the distance between unmanned vehicle A and unmanned vehicle B, unmanned vehicle and corresponding unmanned vehicle control device away from
From, generally more than the distance between unmanned vehicle control device A and unmanned vehicle control device, therefore, two nobody fly
Interference between row device control device is the important component of system interference, below two unmanned vehicles to work simultaneously
Illustrated exemplified by control device：Wherein, unmanned vehicle control device A and unmanned vehicle control device B up-link carrier
Frequency saltus step between 2400-2480MHz, downlink carrier frequency take the 10MHz among 2400~2480MHz, such as
2400-2410MHz, when unmanned vehicle control device A is operated in uplink state, unmanned vehicle control device B is operated in down
During row state, if unmanned vehicle control device A uplink carrier frequency is jumped between 2400-2410MHz, unmanned vehicle
Control device A up-link will interfere to unmanned vehicle control device B downlink, similarly, unmanned flight
Device control device B up-link can also interfere to unmanned vehicle control device A downlink.Moreover, work as user
In the case of persistently increasing, interference also can be increasingly severe.
Therefore, it is necessary to seek to reduce the solution of mutual interference.
The content of the invention
, can be the embodiments of the invention provide a kind of communication means, unmanned vehicle and unmanned vehicle control device
The application scenarios that multi-user coexists reduce mutual interference, so as to lift Consumer's Experience.
The first aspect of the embodiment of the present invention provides a kind of communication means, and the time-division is based on for unmanned vehicle control device
Duplexing tdd mode communicates with unmanned vehicle, including：
In the ascending time slot of tdd mode, the unmanned vehicle control device utilizes first carrier to the unmanned flight
Device sends upward signal；
In the descending time slot of tdd mode, the unmanned vehicle control device using the second carrier wave receive it is described nobody fly
The downstream signal that row device is sent；
Wherein, corresponding first frequency range of the first carrier, corresponding second frequency range of second carrier wave, and first frequency range
It is not overlapping with second frequency range.
The second aspect of the embodiment of the present invention provides a kind of communication means, and TDD is based on for unmanned vehicle
Pattern communicates with unmanned vehicle control device, including：
In the ascending time slot of tdd mode, the unmanned vehicle receives the unmanned vehicle control using first carrier
The upward signal that device is sent；
In the descending time slot of tdd mode, the unmanned vehicle is controlled to the unmanned vehicle using the second carrier wave and filled
Put transmission downstream signal；
Wherein, corresponding first frequency range of the first carrier, corresponding second frequency range of second carrier wave, and first frequency range
It is not overlapping with second frequency range.
The third aspect of the embodiment of the present invention provides a kind of unmanned vehicle control device, for based on tdd mode and nothing
People's aircraft communication, including：
Transmitting element, for the ascending time slot in tdd mode, the unmanned vehicle control device using first carrier to
The unmanned vehicle sends upward signal；
Receiving unit, for the descending time slot in tdd mode, the unmanned vehicle control device is connect using the second carrier wave
Receive the downstream signal that the unmanned vehicle is sent；
Wherein, corresponding first frequency range of the first carrier, corresponding second frequency range of second carrier wave, and first frequency range
It is not overlapping with second frequency range.
The fourth aspect of the embodiment of the present invention provides a kind of unmanned vehicle, for based on TDD pattern and nothing
People's flying vehicles control device communicates, including：
Receiving unit, for the ascending time slot in tdd mode, the unmanned vehicle control dress is received using first carrier
Put the upward signal of transmission；
Transmitting element, for the descending time slot in tdd mode, using the second carrier wave to the unmanned vehicle control device
Send downstream signal；
Wherein, corresponding first frequency range of the first carrier, corresponding second frequency range of second carrier wave, and first frequency range
It is not overlapping with second frequency range.
5th aspect of the embodiment of the present invention provides a kind of unmanned vehicle control device, for based on tdd mode and nothing
People's aircraft communication, including rear end control unit, the radiofrequency signal for exporting the first frequency range and the reception being electrically connected with successively
Front radio-frequency unit, RF switch and the antenna of the radiofrequency signal of second frequency range；
The RF switch is also electrically connected with the rear end control unit, for receiving the rear end control unit transmission
Control signal, to cause the front radio-frequency unit in ascending time slot, pass through the radio frequency that the antenna launches first frequency range
Signal, in descending time slot, pass through the radiofrequency signal of antenna reception second frequency range；
Wherein, first frequency range and second frequency range be not overlapping.
6th aspect of the embodiment of the present invention provides a kind of unmanned vehicle, for based on TDD pattern and nothing
People's flying vehicles control device communicate, including be electrically connected with successively rear end control unit, for receive the first frequency range radio frequency letter
Number and output the second frequency range radiofrequency signal front radio-frequency unit, RF switch and antenna；
The RF switch is also electrically connected with the rear end control unit, for receiving the rear end control unit transmission
Control signal, to cause the front radio-frequency unit in ascending time slot, pass through the radio frequency that the antenna receives first frequency range
Signal, in descending time slot, pass through the radiofrequency signal of antenna transmitting second frequency range；
Wherein, first frequency range and second frequency range be not overlapping.
Communication means provided in an embodiment of the present invention be used for unmanned vehicle control device be based on TDD pattern with
Unmanned vehicle communicates, and in the ascending time slot of tdd mode, using first carrier, to this, nobody flies the unmanned vehicle control device
Row device sends upward signal；In the descending time slot of tdd mode, the unmanned vehicle control device receives the nothing using the second carrier wave
The downstream signal that people's aircraft is sent；Wherein, corresponding first frequency range of the first carrier, corresponding second frequency range of second carrier wave, and
First frequency range and second frequency range be not overlapping.Therefore will be upper in utilization tdd mode relative to prior art, the embodiment of the present invention
While the transmission of row signal and the reception of downstream signal are limited to different time-gap to ensure that separation receives and sends channel, also borrow
Help fdd mode that uplink carrier frequency and downlink carrier frequency are limited to different frequency ranges, to avoid the uplink of a certain user
Road interferes to the downlink of another user or the downlink of a certain user is to the up-link of another user, can be
The application scenarios that multi-user coexists reduce mutual interference, so as to lift Consumer's Experience.
Brief description of the drawings
Fig. 1 is communication means one embodiment schematic diagram in the embodiment of the present invention；
Fig. 2 is another embodiment schematic diagram of communication means in the embodiment of the present invention；
Fig. 3 a to Fig. 3 d are multiple working conditions of the communication means under a concrete application scene in the embodiment of the present invention
Schematic diagram；
Fig. 4 is unmanned vehicle control device one embodiment schematic diagram in the embodiment of the present invention；
Fig. 5 is another embodiment schematic diagram of unmanned vehicle control device in the embodiment of the present invention；
Fig. 6 is unmanned vehicle one embodiment schematic diagram in the embodiment of the present invention；
Fig. 7 is another embodiment schematic diagram of unmanned vehicle in the embodiment of the present invention.
Embodiment
, can be the embodiments of the invention provide a kind of communication means, unmanned vehicle and unmanned vehicle control device
The application scenarios that multi-user coexists reduce mutual interference, so as to lift Consumer's Experience, are described in detail individually below.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, the every other implementation that those skilled in the art are obtained under the premise of creative work is not made
Example, belongs to the scope of protection of the invention.
The communication means in the embodiment of the present invention is described from the angle of unmanned vehicle control device below, please be join
Fig. 1 is read, communication means one embodiment includes in the embodiment of the present invention：
It should be noted that communication means is based on tdd mode for unmanned vehicle control device in the embodiment of the present invention
Communicated with unmanned vehicle, wherein, unmanned vehicle control device is communicated based on tdd mode with unmanned vehicle refers to that nobody flies
Row device control device sends upward signal in different time slots respectively and receives downstream signal, specifically herein for uplink and downlink timeslot
It is fixed that proportioning is not limited, and uplink and downlink switch instant can be flexibly set according to practical application scene.In the present embodiment, it is up
Sent corresponding to upward signal from unmanned vehicle control device (corresponding user side) to unmanned vehicle, it is descending corresponding to descending
Signal is sent to unmanned vehicle control device from unmanned vehicle.
101st, sent out in the ascending time slot of tdd mode, unmanned vehicle control device using first carrier to unmanned vehicle
Send upward signal；
In the present embodiment, when unmanned vehicle control device is operated in ascending time slot, unmanned vehicle control device
Upward signal is carried using first carrier, to send the upward signal to unmanned vehicle.
Alternatively, in the present embodiment, when the bandwidth demand of upward signal is less than the first preset value, step 101 it
Before, it can also include：
Unmanned vehicle control device determines the first carrier under frequency-hopping mode, so that the first carrier is in the first frequency range
Interior saltus step.
I.e. if when the bandwidth demand (bandwidth taken needed for upward signal) of the upward signal is smaller, on improving
The stability of line link, unmanned vehicle control device determine the first carrier under frequency-hopping mode, so that the first carrier exists
Saltus step in first frequency range.Specifically the concrete numerical value herein for the first preset value is not limited fixed, can be determined according to practical application scene
Fixed, for example, when unmanned vehicle is applied to take photo by plane, the upward signal for being carried on first carrier generally comprises control information, this
The bandwidth that a little control information take is smaller (meeting that the bandwidth demand of upward signal is less than the first preset value), now, in order to ensure
Carry the stabilization of the up-link of control information, it is possible to the first carrier is determined under frequency-hopping mode.
102nd, unmanned vehicle is received using the second carrier wave in the descending time slot of tdd mode, unmanned vehicle control device
The downstream signal of transmission；
In the present embodiment, when unmanned vehicle control device is operated in descending time slot, unmanned vehicle control device
The downstream signal of unmanned vehicle transmission is received using the second carrier wave.
It should be noted that in the present embodiment, corresponding first frequency range of the first carrier, corresponding second frequency of second carrier wave
Section, and first frequency range and second frequency range be not overlapping, therefore, in the present embodiment unmanned vehicle control device not merely with
TDD mechanism sends upward signal in different time slots respectively and receives downstream signal, moreover, ensuring up letter using FDD mechanism
Number and downstream signal be carried on the carrier wave of different frequency range, thus, the present embodiment proposes a kind of to be mixed based on FDD with TDD
The framework of communication, on the one hand effectively lower system power dissipation using TDD mechanism, improve the endurance of system, on the other hand, utilize
FDD mechanism reduces mutual interference in the application scenarios that multi-user coexists, and avoids the up-link of a certain user to another user's
Downlink interferes or the downlink of a certain user is to the up-link of another user, so as to lift Consumer's Experience.
Alternatively, preferentially adopted for the consideration to cost, versatility etc. factor, the first frequency range and second frequency range
With unlicensed band, the unlicensed band refers to exempt from ISM (Industrial Scientific Medical) the public frequency authorized
Section.
Alternatively, because the space attenuation of low frequency is smaller, further to improve the stability of up-link, the first frequency range is excellent
The relatively low unlicensed band of first frequency of use, such as 2.4GHz frequency ranges, accordingly, the second frequency range uses 5.8GHz frequency ranges.
Communication means provided in an embodiment of the present invention be used for unmanned vehicle control device be based on TDD pattern with
Unmanned vehicle communicates, and in the ascending time slot of tdd mode, using first carrier, to this, nobody flies the unmanned vehicle control device
Row device sends upward signal；In the descending time slot of tdd mode, the unmanned vehicle control device receives the nothing using the second carrier wave
The downstream signal that people's aircraft is sent；Wherein, corresponding first frequency range of the first carrier, corresponding second frequency range of second carrier wave, and
First frequency range and second frequency range be not overlapping.Therefore will be upper in utilization tdd mode relative to prior art, the embodiment of the present invention
While the transmission of row signal and the reception of downstream signal are limited to different time-gap to ensure that separation receives and sends channel, also borrow
Help fdd mode that uplink carrier frequency and downlink carrier frequency are limited to different frequency ranges, to avoid the uplink of a certain user
Road interferes to the downlink of another user or the downlink of a certain user is to the up-link of another user, can be
The application scenarios that multi-user coexists reduce mutual interference, so as to lift Consumer's Experience.
The communication means in the embodiment of the present invention is described from the angle of unmanned vehicle below, referring to Fig. 2, this
Another embodiment of communication means includes in inventive embodiments：
It should be noted that communication means is based on tdd mode for unmanned vehicle in the embodiment of the present invention and nobody flies
Row device control device communicates, wherein, unmanned vehicle is communicated based on tdd mode with unmanned vehicle control device refers to that nobody flies
Row device control device receives upward signal in different time slots respectively and sends downstream signal, specifically herein for uplink and downlink timeslot
It is fixed that proportioning is not limited, and uplink and downlink switch instant can be flexibly set according to practical application scene.
201st, unmanned vehicle control device is received using first carrier in the ascending time slot of tdd mode, unmanned vehicle
The upward signal of transmission；
In the present embodiment, when unmanned vehicle is operated in ascending time slot, unmanned vehicle is received using first carrier
The upward signal that unmanned vehicle control device is sent.
202nd, sent out in the descending time slot of tdd mode, unmanned vehicle using the second carrier wave to unmanned vehicle control device
Send downstream signal；
In the present embodiment, when unmanned vehicle is operated in descending time slot, unmanned vehicle utilizes the second carriers carry
Downstream signal, to send the downstream signal to unmanned vehicle control device.
Alternatively, in the present embodiment, when the bandwidth demand of downstream signal is more than the second preset value, step 202 it
Before, it can also include：
Unmanned vehicle is determining second carrier wave or unmanned vehicle under dynamic frequency-selecting pattern really under determining frequency pattern
Fixed second carrier wave；
It is then unrealistic using frequency hopping i.e. if when the bandwidth demand of the downstream signal is larger, thus, generally determining frequency
Second carrier wave is determined under pattern, i.e. the second carrier wave, which is fixed, keeps constant, in some application scenarios, can also increase dynamic and select
The function of frequency, second carrier wave is determined in the case where determining frequency pattern, i.e., by searching for electromagnetic interference within a period of time, after intelligent decision
Realize that channel switches.Specifically the concrete numerical value herein for the first preset value is not limited fixed, can be determined according to practical application scene,
For example, when unmanned vehicle is applied to take photo by plane, the downstream signal for being carried on the second carrier wave generally comprises high-definition image information, this
The bandwidth that a little high-definition image information take is larger (meeting that the bandwidth demand of upward signal is more than the second preset value), now, so that it may
To determine second carrier wave in the case where determining frequency pattern or dynamic frequency-selecting pattern.When unmanned vehicle is applied to take photo by plane, it is carried on
The downstream signal of second carrier wave also includes the status data of unmanned vehicle, such as：Speed, height, posture, GPS information etc..
Wherein, corresponding first frequency range of the first carrier, corresponding second frequency range of second carrier wave, and first frequency range
It is not overlapping with second frequency range.
It should be noted that in the present embodiment, corresponding first frequency range of the first carrier, corresponding second frequency of second carrier wave
Section, and first frequency range and second frequency range be not overlapping, therefore, unmanned vehicle is not merely with TDD mechanism in the present embodiment
Upward signal is received in different time slot respectively and send downstream signal, moreover, ensuring upward signal and descending using FDD mechanism
Signal is carried on the carrier wave of different frequency range, and thus, the present embodiment proposes a kind of frame based on FDD Yu TDD mixed communications
Structure, on the one hand effectively lower system power dissipation using TDD mechanism, improve the endurance of system, on the other hand, utilize FDD mechanism
Reduce mutual interference in the application scenarios that multi-user coexists, avoid the up-link of a certain user to the downlink of another user
Interfere or the downlink of a certain user is to the up-link of another user, so as to lift Consumer's Experience.
Alternatively, preferentially adopted for the consideration to cost, versatility etc. factor, the first frequency range and second frequency range
With unlicensed band, the unlicensed band refers to exempt from ISM (Industrial Scientific Medical) the public frequency authorized
Section.
Alternatively, using the preferential frequency of use of the second frequency range for determining frequency pattern or dynamic frequency-selecting pattern it is higher exempt to authorize
Frequency range, such as 5.8GHz frequency ranges, accordingly, the first frequency range uses 2.4GHz frequency ranges.
Because the space attenuation of low frequency is smaller, further to improve the stability of up-link, the first frequency range preferentially uses
The relatively low unlicensed band of frequency, such as 2.4GHz frequency ranges, accordingly, the second frequency range uses 5.8GHz frequency ranges.
Communication means provided in an embodiment of the present invention is used for unmanned vehicle and is based on tdd mode and unmanned vehicle control dress
Communication is put, in the ascending time slot of tdd mode, the unmanned vehicle receives unmanned vehicle control device using first carrier and sent
Upward signal；In the descending time slot of tdd mode, unmanned vehicle is sent using the second carrier wave to unmanned vehicle control device
Downstream signal；Wherein, corresponding first frequency range of the first carrier, corresponding second frequency range of second carrier wave, and first frequency range is with being somebody's turn to do
Second frequency range is not overlapping.Therefore relative to prior art, the embodiment of the present invention using tdd mode by the reception of upward signal and
, will also be upper by fdd mode while the transmission of downstream signal is limited to different time-gap to ensure that separation receives and sends channel
Row carrier frequency and downlink carrier frequency are limited to different frequency ranges, to avoid the up-link of a certain user to another user's
Downlink interferes or the downlink of a certain user is to the up-link of another user, can be answered what multi-user coexisted
Reduce mutual interference with scene, so as to lift Consumer's Experience.
At present, take photo by plane and have become one of current unmanned vehicle application the most popular, below using take photo by plane apply as
Specific application scenarios, communication means in the embodiment of the present invention is carried out specifically from the angle of unmanned vehicle control device
It is bright：
Wherein, the upward signal of first carrier carrying is the less control information of bandwidth demand, under the second carriers carry
Row signal is the status data of the relatively large high-definition image information of bandwidth demand and unmanned vehicle, it is clear that downlink data
Amount is far longer than upstream data amount, and as people can also get over to image quality requirements more and more higher, up-downgoing data volume difference
Come bigger.Therefore, the first frequency range corresponding to first carrier is 2.4GHz frequency ranges, and unmanned vehicle control device is in frequency-hopping mode
Lower determination first carrier；Second frequency range corresponding to second carrier wave is 5.8GHz frequency ranges, and corresponding unmanned vehicle is determining frequency
Second carrier wave is determined under pattern or dynamic frequency-selecting pattern, it is relatively low to allow the upward signal for implementing frequency hopping to be operated in frequency
Unlicensed band, because the space attenuation of low frequency is smaller, up-link can be allowed more stable；Allow use and determine frequency technology or dynamic
The downstream signal of frequency-selecting technology is operated in wider unlicensed band, so as to accommodate more users.
In this application scene, illustrated with the situation that two users coexist：Respectively user A holds unmanned vehicle
Control device A and user B holds unmanned vehicle control device B, herein to respectively with unmanned vehicle control device A and nobody
Unmanned vehicle corresponding to flying vehicles control device B is not described in detail, below only from the angle of unmanned vehicle control device
The application scenarios of communication means in the embodiment of the present invention are illustrated：
Fig. 3 a to Fig. 3 d are referred to, are the schematic diagram of one application scenarios of communication means in the embodiment of the present invention, wherein,
In Fig. 3 a, unmanned vehicle control device A is operated in ascending time slot, and unmanned vehicle control device B is operated in descending time slot, this
When, the radiant power of unmanned vehicle control device A 2.4GHz radiation signal is come for unmanned vehicle control device B
Say, be high reject signal, but because uplink and downlink works frequency range is inconsistent, 2.4GHz radiation signal enters unmanned vehicle control
It can be filtered out after device B processed by wave filter, not interfere with unmanned vehicle control device B normal work, therefore, unmanned vehicle
Control device A up-link will not interfere to unmanned vehicle control device B downlink, in this working condition
Under, it will not be interacted between unmanned vehicle control device A and unmanned vehicle control device B.
In fig 3b, unmanned vehicle control device A is operated in ascending time slot, and unmanned vehicle control device B also works
In ascending time slot, now, hopping, unmanned vehicle control device A and unmanned vehicle control device B are used due to up
It is operated in that the probability of identical frequency is very low, therefore probability of interference from each other is extremely low.
In figure 3 c, unmanned vehicle control device A is operated in descending time slot, and unmanned vehicle control device B is operated in
Ascending time slot, working condition now is similar with Fig. 3 a, and specific here is omitted.
In Fig. 3 d, unmanned vehicle control device A is operated in descending time slot, and unmanned vehicle control device B also works
In descending time slot, at this point it is possible to using the mechanism of dynamic frequency-selecting, as unmanned vehicle control device A selections 5725~
5735MHz, unmanned vehicle control device B select 5745~5755MHz to avoid interference from each other.
The communication means in the embodiment of the present invention is described above, below in the embodiment of the present invention nobody fly
Row device control device is described, referring to Fig. 4, unmanned vehicle control device one embodiment bag in the embodiment of the present invention
Include：
It should be noted that unmanned vehicle control device is used to fly based on tdd mode and nobody in the embodiment of the present invention
Row device communicates, and it includes：
Transmitting element 401, for the ascending time slot in tdd mode, the unmanned vehicle control device carries using first
Unmanned vehicle described in wave direction sends upward signal；
Receiving unit 402, for the descending time slot in tdd mode, the unmanned vehicle control device carries using second
Ripple receives the downstream signal that the unmanned vehicle is sent；
Wherein, corresponding first frequency range of the first carrier, corresponding second frequency range of second carrier wave, and first frequency range
It is not overlapping with second frequency range.
For ease of understanding, below by taking a concrete application scene as an example, in the present embodiment in unmanned vehicle control device
Portion's operation workflow is described：
In the ascending time slot of tdd mode, transmitting element 401 sends up letter using first carrier to the unmanned vehicle
Number；In the descending time slot of tdd mode, receiving unit 402 receives the descending letter of the unmanned vehicle transmission using the second carrier wave
Number；Wherein, corresponding first frequency range of the first carrier, corresponding second frequency range of second carrier wave, and first frequency range and institute
It is not overlapping to state the second frequency range.
Alternatively, in actual application, the transmitting element 401 in the present embodiment can control with unmanned vehicle to be filled
The transmitter put is corresponding, can also correspond to the transceiver of unmanned vehicle control device.Receiving unit 402 in the present embodiment can
With corresponding with the receiver of unmanned vehicle control device, the transceiver of unmanned vehicle control device can also be corresponded to.
Alternatively, in the present embodiment, the unmanned vehicle control device can also include：
Determining unit, for when the bandwidth demand of the upward signal is less than the first preset value, in the unmanned flight
Before device control device sends upward signal using first carrier to the unmanned vehicle, described the is determined under frequency-hopping mode
One carrier wave, so as to first carrier saltus step in first frequency range.
Alternatively, in the present embodiment, first frequency range and second frequency range are unlicensed band.
Alternatively, in the present embodiment, first frequency range includes 2.4GHz frequency ranges；Second frequency range includes 5.8GHz
Frequency range.
Alternatively, in actual application, the determining unit can be with the processor of unmanned vehicle control device
Corresponding, processor can be a CPU here, or ASIC, or complete to implement the one or more of the embodiment of the present invention
Integrated circuit.Unmanned vehicle control device provided in an embodiment of the present invention, for being flown based on TDD pattern and nobody
Row device communicates, in the ascending time slot of tdd mode, the transmitting element 401 of the unmanned vehicle control device using first carrier to
The unmanned vehicle sends upward signal；In the descending time slot of tdd mode, receiving unit 402 receives the nothing using the second carrier wave
The downstream signal that people's aircraft is sent；Wherein, corresponding first frequency range of the first carrier, corresponding second frequency range of second carrier wave, and
First frequency range and second frequency range be not overlapping.Therefore will be upper in utilization tdd mode relative to prior art, the embodiment of the present invention
While the transmission of row signal and the reception of downstream signal are limited to different time-gap to ensure that separation receives and sends channel, also borrow
Help fdd mode that uplink carrier frequency and downlink carrier frequency are limited to different frequency ranges, to avoid the uplink of a certain user
Road interferes to the downlink of another user or the downlink of a certain user is to the up-link of another user, can be
The application scenarios that multi-user coexists reduce mutual interference, so as to lift Consumer's Experience.
The angle of slave module functional entity is retouched to the unmanned vehicle control device in the embodiment of the present invention above
State, the unmanned vehicle control device in the embodiment of the present invention is described from the angle of hardware handles below, please specifically be join
Fig. 5 is read, another embodiment of unmanned vehicle control device includes in the embodiment of the present invention：
It should be noted that unmanned vehicle control device is used to fly based on tdd mode and nobody in the embodiment of the present invention
Row device communicates, its rear end control unit 501 for including being electrically connected with successively, the radiofrequency signal for exporting the first frequency range and reception
Front radio-frequency unit 502, RF switch 503 and the antenna 504 of the radiofrequency signal of second frequency range；
The RF switch 503 is also electrically connected with the rear end control unit 501, for receiving the rear end control unit
501 control signals sent, to cause the front radio-frequency unit 502 in ascending time slot, launched by the antenna 504 described
The radiofrequency signal of first frequency range, in descending time slot, the radiofrequency signal of second frequency range is received by the antenna 504；
Wherein, first frequency range and second frequency range be not overlapping.
It is understood that rear end control unit 501 refers to the control centre of unmanned vehicle control device, for producing
Need the upward signal (such as control information) that sends and input to front radio-frequency unit 502, be additionally operable to receive through front radio-frequency
The downstream signal (such as status data of high-definition image information and unmanned vehicle) that inputs and descending to this after the processing of unit 502
Signal is handled accordingly.
It is understood that front radio-frequency unit 502 can include one the radio-frequency transmissions subelement based on the first frequency range
And a radio frequency reception subelement based on the second frequency range, export penetrating for the first frequency range will pass through the radio-frequency transmissions subelement
Frequency signal, and pass through the radiofrequency signal of the radio frequency reception subelement the second frequency range of reception.
Alternatively, in the present embodiment, the front radio-frequency unit 502 can include radio-frequency module 5021, the first signal
Amplifier 5022, secondary signal amplifier 5023, the first wave filter 5024 and the second wave filter 5025；
Wherein, the output end of the radio-frequency module 5021 passes sequentially through first signal amplifier 5022 and described first
Wave filter 5024 is electrically connected with the RF switch 503；The input of the radio-frequency module 5021 passes sequentially through second letter
Number amplifier 5022 and second wave filter 5025 are electrically connected with the RF switch 503.
It is understood that radio frequency transmitter circuitry, the first signal amplifier 5022 and first in radio-frequency module 5021
Wave filter 5024 forms the radio-frequency transmissions subelement based on the first frequency range altogether, RF receiving circuit in radio-frequency module 5021,
The wave filter 5025 of secondary signal amplifier 5022 and second collectively forms the radio frequency reception subelement based on the second frequency range.
Alternatively, in the present embodiment, first frequency range and second frequency range are unlicensed band.
Alternatively, in the present embodiment, first frequency range includes 2.4GHz frequency ranges；Second frequency range includes 5.8GHz
Frequency range.
The communication means in the embodiment of the present invention, unmanned vehicle control device are described above, below to this
Unmanned vehicle in inventive embodiments is described, referring to Fig. 6, unmanned vehicle one embodiment in the embodiment of the present invention
Including：
It should be noted that unmanned vehicle is used to control based on tdd mode and unmanned vehicle in the embodiment of the present invention
Device communicates, and it includes：
Receiving unit 601, for the ascending time slot in tdd mode, the unmanned vehicle control is received using first carrier
The upward signal that device processed is sent；
Transmitting element 602, for the descending time slot in tdd mode, controlled using the second carrier wave to the unmanned vehicle
Device sends downstream signal；
Wherein, corresponding first frequency range of the first carrier, corresponding second frequency range of second carrier wave, and first frequency range
It is not overlapping with second frequency range.
Alternatively, in actual application, the receiving unit 602 in the present embodiment can be with the reception of unmanned vehicle
Device is corresponding, can also correspond to the transceiver of unmanned vehicle.Transmitting element 601 in the present embodiment can be with unmanned vehicle
Transmitter is corresponding, can also correspond to the transceiver of unmanned vehicle.For ease of understanding, below by taking a concrete application scene as an example,
Unmanned vehicle inner working flow in the present embodiment is described：
In the ascending time slot of tdd mode, receiving unit 601 receives the unmanned vehicle control device using first carrier
The upward signal of transmission；In the descending time slot of tdd mode, transmitting element 602 utilizes the second carrier wave to the unmanned vehicle control
Device processed sends downstream signal；Wherein, corresponding first frequency range of the first carrier, corresponding second frequency range of second carrier wave, and
First frequency range and second frequency range be not overlapping.
Alternatively, the unmanned vehicle can also include：
Determining unit, for when the bandwidth demand of the downstream signal is more than the second preset value, in the unmanned flight
Before device sends downstream signal using the second carrier wave to the unmanned vehicle control device, described the is determined in the case where determining frequency pattern
Nd carrier, or, second carrier wave is determined under dynamic frequency-selecting pattern.
Alternatively, in the present embodiment, first frequency range and second frequency range are unlicensed band.
Alternatively, in the present embodiment, first frequency range includes 2.4GHz frequency ranges；Second frequency range includes 5.8GHz
Frequency range.
Unmanned vehicle provided in an embodiment of the present invention, for being communicated based on tdd mode with unmanned vehicle control device,
In the ascending time slot of tdd mode, the receiving unit 601 of the unmanned vehicle receives unmanned vehicle control dress using first carrier
Put the upward signal of transmission；In the descending time slot of tdd mode, transmitting element 602 is controlled using the second carrier wave to unmanned vehicle
Device sends downstream signal；Wherein, corresponding first frequency range of the first carrier, corresponding second frequency range of second carrier wave, and this first
Frequency range and second frequency range be not overlapping.Therefore tdd mode is being utilized by upward signal relative to prior art, the embodiment of the present invention
Reception and downstream signal transmission be limited to different time-gap with ensure separation receive and send channel while, also by FDD
Uplink carrier frequency and downlink carrier frequency are limited to different frequency ranges by pattern, to avoid the up-link of a certain user to another
The downlink of one user interferes or the downlink of a certain user is to the up-link of another user, can be in multi-user
The application scenarios coexisted reduce mutual interference, so as to lift Consumer's Experience.
The unmanned vehicle in the embodiment of the present invention is described the angle of slave module functional entity above, below from
Unmanned vehicle in the embodiment of the present invention is described the angle of hardware handles, referring specifically to Fig. 7, the embodiment of the present invention
Middle another embodiment of unmanned vehicle includes：
It should be noted that unmanned vehicle is used to control based on tdd mode and unmanned vehicle in the embodiment of the present invention
Device communicates, its rear end control unit 701 for including being electrically connected with successively, the radiofrequency signal for receiving the first frequency range and output
Front radio-frequency unit 702, RF switch 703 and the antenna 704 of the radiofrequency signal of second frequency range；
The RF switch 703 is also electrically connected with the rear end control unit 701, for receiving the rear end control unit
701 control signals sent, to cause the front radio-frequency unit 702 in ascending time slot, received by the antenna 704 described
The radiofrequency signal of first frequency range, in descending time slot, the radiofrequency signal of second frequency range is launched by the antenna 704；
Wherein, first frequency range and second frequency range be not overlapping.
It is understood that rear end control unit 701 refers to the control centre of unmanned vehicle, need to send for producing
Downstream signal (such as high-definition image information, the status data of aircraft) and input to front radio-frequency unit 702, be additionally operable to connect
Receive the upward signal (such as control information) inputted after the processing of front radio-frequency unit 702 and the upward signal is carried out corresponding
Processing.
It is understood that front radio-frequency unit 702 can include one the radio frequency reception subelement based on the first frequency range
And a radio-frequency transmissions subelement based on the second frequency range, receive penetrating for the first frequency range will pass through the radio frequency reception subelement
Frequency signal, and pass through the radiofrequency signal of the radio-frequency transmissions subelement the second frequency range of transmitting.
Alternatively, in the present embodiment, the front radio-frequency unit 702 can include radio-frequency module 7021, the first signal
Amplifier 7022, secondary signal amplifier 7023, the first wave filter 7024 and the second wave filter 7025；
Wherein, the input of the radio-frequency module 7021 passes sequentially through first signal amplifier 7022 and described first
Wave filter 7024 is electrically connected with the RF switch 703；The output end of the radio-frequency module 7021 passes sequentially through second letter
Number amplifier 7022 and second wave filter 7025 are electrically connected with the RF switch 703.
It is understood that RF receiving circuit, the first signal amplifier 7022 and first in radio-frequency module 7021
Wave filter 7024 forms the radio frequency reception subelement based on the first frequency range altogether, radio frequency transmitter circuitry in radio-frequency module 7021,
The wave filter 7025 of secondary signal amplifier 7022 and second collectively forms the radio-frequency transmissions subelement based on the second frequency range.
Alternatively, in the present embodiment, first frequency range and second frequency range are unlicensed band.
Alternatively, in the present embodiment, first frequency range includes 2.4GHz frequency ranges；Second frequency range includes 5.8GHz
Frequency range.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, the corresponding process in preceding method embodiment is may be referred to, will not be repeated here.
In several embodiments provided herein, it should be understood that disclosed system, apparatus and method can be with
Realize by another way.For example, device embodiment described above is only schematical, for example, the unit
Division, only a kind of division of logic function, can there is other dividing mode, such as multiple units or component when actually realizing
Another system can be combined or be desirably integrated into, or some features can be ignored, or do not perform.It is another, it is shown or
The mutual coupling discussed or direct-coupling or communication connection can be the indirect couplings by some interfaces, device or unit
Close or communicate to connect, can be electrical, mechanical or other forms.
The unit illustrated as separating component can be or may not be physically separate, show as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list
Member can both be realized in the form of hardware, can also be realized in the form of SFU software functional unit.
If the integrated unit is realized in the form of SFU software functional unit and is used as independent production marketing or use
When, it can be stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially
The part to be contributed in other words to prior art or all or part of the technical scheme can be in the form of software products
Embody, the computer software product is stored in a storage medium, including some instructions are causing a computer
Equipment (can be personal computer, server, or network equipment etc.) performs the complete of each embodiment methods described of the present invention
Portion or part steps.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
Described above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to before
Embodiment is stated the present invention is described in detail, it will be understood by those within the art that：It still can be to preceding
State the technical scheme described in each embodiment to modify, or equivalent substitution is carried out to which part technical characteristic；And these
Modification is replaced, and the essence of appropriate technical solution is departed from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (20)
1. a kind of communication means, communicated for unmanned vehicle control device based on TDD pattern with unmanned vehicle,
It is characterised in that it includes：
In the ascending time slot of tdd mode, the unmanned vehicle control device is sent out using first carrier to the unmanned vehicle
Send upward signal；
In the descending time slot of tdd mode, the unmanned vehicle control device receives the unmanned vehicle using the second carrier wave
The downstream signal of transmission；
Wherein, corresponding first frequency range of the first carrier, corresponding second frequency range of second carrier wave, and first frequency range and institute
It is not overlapping to state the second frequency range；
When the bandwidth demand of the upward signal is less than the first preset value, first is utilized in the unmanned vehicle control device
Carrier wave also includes before sending upward signal to the unmanned vehicle：
The unmanned vehicle control device determines the first carrier under frequency-hopping mode, so that the first carrier is described
Saltus step in first frequency range.
2. communication means as claimed in claim 1, it is characterised in that first frequency range and second frequency range are to exempt to award
Weigh frequency range.
3. communication means as claimed in claim 2, it is characterised in that first frequency range includes 2.4GHz frequency ranges；Described
Two frequency ranges include 5.8GHz frequency ranges.
4. a kind of communication means, communicated for unmanned vehicle based on TDD pattern with unmanned vehicle control device,
It is characterised in that it includes：
In the ascending time slot of tdd mode, the unmanned vehicle receives the unmanned vehicle control device using first carrier
The upward signal of transmission；
In the descending time slot of tdd mode, the unmanned vehicle is sent out using the second carrier wave to the unmanned vehicle control device
Send downstream signal；
Wherein, corresponding first frequency range of the first carrier, corresponding second frequency range of second carrier wave, and first frequency range and institute
It is not overlapping to state the second frequency range；
When the bandwidth demand of the downstream signal is more than the second preset value, the second carrier wave is utilized to institute in the unmanned vehicle
Stating before unmanned vehicle control device sends downstream signal also includes：
The unmanned vehicle determines second carrier wave in the case where determining frequency pattern；
Or the unmanned vehicle determines second carrier wave under dynamic frequency-selecting pattern.
5. communication means as claimed in claim 4, it is characterised in that first frequency range and second frequency range are to exempt to award
Weigh frequency range.
6. communication means as claimed in claim 5, it is characterised in that first frequency range includes 2.4GHz frequency ranges；Described
Two frequency ranges include 5.8GHz frequency ranges.
A kind of 7. unmanned vehicle control device, for being communicated based on tdd mode with unmanned vehicle, it is characterised in that including：
Transmitting element, for the ascending time slot in tdd mode, up letter is sent to the unmanned vehicle using first carrier
Number；
Receiving unit, for the descending time slot in tdd mode, the descending of the unmanned vehicle transmission is received using the second carrier wave
Signal；
Wherein, corresponding first frequency range of the first carrier, corresponding second frequency range of second carrier wave, and first frequency range and institute
It is not overlapping to state the second frequency range；
The unmanned vehicle control device also includes：
Determining unit, for when the bandwidth demand of the upward signal is less than the first preset value, in the unmanned vehicle control
Before device processed sends upward signal using first carrier to the unmanned vehicle, determine that described first carries under frequency-hopping mode
Ripple, so as to first carrier saltus step in first frequency range.
8. unmanned vehicle control device as claimed in claim 7, it is characterised in that first frequency range and second frequency
Duan Junwei unlicensed bands.
9. unmanned vehicle control device as claimed in claim 8, it is characterised in that first frequency range includes 2.4GHz frequencies
Section；Second frequency range includes 5.8GHz frequency ranges.
10. a kind of unmanned vehicle, for being communicated based on TDD pattern with unmanned vehicle control device, its feature
It is, including：
Receiving unit, for the ascending time slot in tdd mode, receive the unmanned vehicle control device using first carrier and send out
The upward signal sent；
Transmitting element, for the descending time slot in tdd mode, sent using the second carrier wave to the unmanned vehicle control device
Downstream signal；
Wherein, corresponding first frequency range of the first carrier, corresponding second frequency range of second carrier wave, and first frequency range and institute
It is not overlapping to state the second frequency range；
The unmanned vehicle also includes：
Determining unit, for when the bandwidth demand of the downstream signal is more than the second preset value, in unmanned vehicle profit
Before sending downstream signal to the unmanned vehicle control device with the second carrier wave, determine that described second carries in the case where determining frequency pattern
Ripple, or, second carrier wave is determined under dynamic frequency-selecting pattern.
11. unmanned vehicle as claimed in claim 10, it is characterised in that first frequency range and second frequency range are
Unlicensed band.
12. unmanned vehicle as claimed in claim 11, it is characterised in that first frequency range includes 2.4GHz frequency ranges；Institute
Stating the second frequency range includes 5.8GHz frequency ranges.
A kind of 13. unmanned vehicle control device, for being communicated based on tdd mode with unmanned vehicle, it is characterised in that including
The rear end control unit being electrically connected with successively, the radiofrequency signal for exporting the first frequency range and the radiofrequency signal for receiving the second frequency range
Front radio-frequency unit, RF switch and antenna；
The RF switch is also electrically connected with the rear end control unit, the control sent for receiving the rear end control unit
Signal, to cause the front radio-frequency unit in ascending time slot, the radiofrequency signal of first frequency range is launched by the antenna,
In descending time slot, pass through the radiofrequency signal of antenna reception second frequency range；
Wherein, first frequency range and second frequency range be not overlapping；
When the bandwidth demand of the radiofrequency signal of first frequency range is less than the first preset value, controls and fill in the unmanned vehicle
Put before sending the radiofrequency signal of first frequency range to the unmanned vehicle using the antenna, determined under frequency-hopping mode
The radiofrequency signal of first frequency range, so as to radiofrequency signal saltus step in first frequency range of first frequency range.
14. unmanned vehicle control device as claimed in claim 13, it is characterised in that
The front radio-frequency unit include radio-frequency module, the first signal amplifier, secondary signal amplifier, the first wave filter and
Second wave filter；
Wherein, the output end of the radio-frequency module passes sequentially through first signal amplifier and first wave filter electrically connects
Connect the RF switch；The input of the radio-frequency module passes sequentially through the secondary signal amplifier and second wave filter
It is electrically connected with the RF switch.
15. the unmanned vehicle control device as described in claim 13 or 14, it is characterised in that first frequency range and described
Second frequency range is unlicensed band.
16. unmanned vehicle control device as claimed in claim 15, it is characterised in that first frequency range includes 2.4GHz
Frequency range；Second frequency range includes 5.8GHz frequency ranges.
17. a kind of unmanned vehicle, for being communicated based on TDD pattern with unmanned vehicle control device, its feature
It is, including the second frequency range of rear end control unit, the radiofrequency signal for receiving the first frequency range and output being electrically connected with successively
Radiofrequency signal front radio-frequency unit, RF switch and antenna；
The RF switch is also electrically connected with the rear end control unit, the control sent for receiving the rear end control unit
Signal, to cause the front radio-frequency unit in ascending time slot, the radiofrequency signal of first frequency range is received by the antenna,
In descending time slot, pass through the radiofrequency signal of antenna transmitting second frequency range；
Wherein, first frequency range and second frequency range be not overlapping；
When the bandwidth demand of the radiofrequency signal of second frequency range is more than the second preset value, institute is utilized in the unmanned vehicle
Before stating the radiofrequency signal that antenna sends the second frequency range to the unmanned vehicle control device, in the case where determining frequency pattern described in determination
The radiofrequency signal of second frequency range, or, the radiofrequency signal of second frequency range is determined under dynamic frequency-selecting pattern.
18. unmanned vehicle as claimed in claim 17, it is characterised in that
The front radio-frequency unit include radio-frequency module, the first signal amplifier, secondary signal amplifier, the first wave filter and
Second wave filter；
Wherein, the output end of the radio-frequency module passes sequentially through the secondary signal amplifier and second wave filter electrically connects
Connect the RF switch；The input of the radio-frequency module passes sequentially through first signal amplifier and first wave filter
It is electrically connected with the RF switch.
19. the unmanned vehicle as described in claim 17 or 18, it is characterised in that first frequency range and second frequency range
It is unlicensed band.
20. unmanned vehicle as claimed in claim 19, it is characterised in that first frequency range includes 2.4GHz frequency ranges；Institute
Stating the second frequency range includes 5.8GHz frequency ranges.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2015/075647 WO2016154959A1 (en) | 2015-04-01 | 2015-04-01 | Communication method, unmanned aerial vehicle and control device for unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105766046A CN105766046A (en) | 2016-07-13 |
| CN105766046B true CN105766046B (en) | 2018-02-13 |
Family
ID=56343066
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201580002668.2A Expired - Fee Related CN105766046B (en) | 2015-04-01 | 2015-04-01 | A kind of communication means, unmanned vehicle and unmanned vehicle control device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN105766046B (en) |
| WO (1) | WO2016154959A1 (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106716280B (en) * | 2016-09-26 | 2021-02-19 | 深圳市大疆创新科技有限公司 | Control method, control device, electronic device and aircraft control system |
| WO2018170735A1 (en) * | 2017-03-21 | 2018-09-27 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method and control device, and unmanned aerial vehicle supervision method and supervision device |
| KR20190113986A (en) | 2017-03-21 | 2019-10-08 | 에스지 디제이아이 테크놀러지 코., 엘티디 | Monitoring method and system |
| CN107360215A (en) * | 2017-06-21 | 2017-11-17 | 深圳市盛路物联通讯技术有限公司 | Data method for controlling reporting and system based on geographical position in a kind of Internet of Things |
| CN107370790A (en) * | 2017-06-21 | 2017-11-21 | 深圳市盛路物联通讯技术有限公司 | A kind of Internet of Things data communication means and system |
| WO2019037027A1 (en) * | 2017-08-24 | 2019-02-28 | 深圳市大疆创新科技有限公司 | Frequency band authentication method and apparatus for wireless device, and computing device |
| CN108306656B (en) * | 2017-12-19 | 2019-07-30 | 中国人民解放军火箭军工程大学 | Baseband signal design and unmanned vehicle distant control chain circuit is interfered to collide interference method |
| CN110771189A (en) * | 2018-08-30 | 2020-02-07 | 深圳市大疆创新科技有限公司 | Control method, system, device and computer readable storage medium |
| CN113827192B (en) * | 2021-10-08 | 2023-12-05 | 北京大学 | Wireless miniature fluorescence microscopy imaging device and its application |
| CN115550875B (en) * | 2022-08-01 | 2024-09-10 | 北京遥测技术研究所 | Link parameter matching method for unmanned cluster network measurement and control |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070244608A1 (en) * | 2006-04-13 | 2007-10-18 | Honeywell International Inc. | Ground control station for UAV |
| CN101197655B (en) * | 2006-12-07 | 2010-09-22 | 大唐移动通信设备有限公司 | TDD and FDD combined communication method and communication apparatus |
| CN103490842B (en) * | 2013-09-26 | 2016-09-28 | 深圳市大疆创新科技有限公司 | Data transmission system and method |
| CN103543752B (en) * | 2013-10-09 | 2017-03-15 | 深圳市大疆创新科技有限公司 | A kind of remote control thereof and remote control systems |
| CN203658825U (en) * | 2014-01-16 | 2014-06-18 | 西安博宇信息科技有限公司 | Remote controlling and measuring system used for unmanned planes |
-
2015
- 2015-04-01 WO PCT/CN2015/075647 patent/WO2016154959A1/en active Application Filing
- 2015-04-01 CN CN201580002668.2A patent/CN105766046B/en not_active Expired - Fee Related
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| WO2016154959A1 (en) | 2016-10-06 |
| CN105766046A (en) | 2016-07-13 |
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