技术领域technical field
本发明涉及无人机技术领域，尤其涉及一种可根据需要进行重构的无人机飞行控制系统及方法。The present invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle flight control system and method that can be reconfigured as required.
背景技术Background technique
无人驾驶飞机简称“无人机”(“UAV”)，是利用无线电遥控设备和自备的程序控制装置操纵的不载人飞行器。无人机实际上是无人驾驶飞行器的统称，从技术角度定义可以分为：无人固定翼飞机、无人垂直起降飞机、无人飞艇、无人直升机、无人多旋翼飞行器、无人伞翼机等。与载人飞机相比，它具有体积小、造价低、使用方便、对飞行环境要求低等优点。与有人驾驶飞机相比，无人机往往更适合那些太“愚钝，肮脏或危险”的任务。无人机按应用领域，可分为军用与民用。军用方面，无人机分为侦察机和靶机。民用方面，无人机+行业应用，是无人机真正的刚需；目前在航拍、农业、植保、微型自拍、快递运输、灾难救援、观察野生动物、监控传染病、测绘、新闻报道、电力巡检、救灾、影视拍摄、制造浪漫等等领域的应用，大大的拓展了无人机本身的用途，发达国家也在积极扩展行业应用与发展无人机技术。Unmanned aircraft, referred to as "unmanned aerial vehicle" ("UAV"), is an unmanned aircraft controlled by radio remote control equipment and its own program control device. UAV is actually a general term for unmanned aerial vehicles. From a technical point of view, it can be divided into: unmanned fixed-wing aircraft, unmanned vertical take-off and landing aircraft, unmanned airship, unmanned helicopter, unmanned multi-rotor aircraft, unmanned paraglider etc. Compared with manned aircraft, it has the advantages of small size, low cost, convenient use, and low requirements for the flying environment. Drones are often better suited for missions that are too "dumb, dirty or dangerous" than manned aircraft. According to the application field, UAV can be divided into military and civilian. In terms of military use, UAVs are divided into reconnaissance aircraft and target aircraft. In terms of civilian use, drones + industry applications are the real rigid needs of drones; currently, they are used in aerial photography, agriculture, plant protection, micro selfies, express delivery, disaster relief, wildlife observation, infectious disease monitoring, surveying and mapping, news reports, power patrols, etc. Inspection, disaster relief, film and television shooting, romantic manufacturing and other fields have greatly expanded the use of drones themselves. Developed countries are also actively expanding industry applications and developing drone technology.
然而，目前主流的无人机均只采用微处理器和专用的外设硬件构成的封闭性飞控系统，其落后的飞控系统越发成为无人机技术发展的主要障碍，原因在于专用性系统只能实现单一的飞行功能，硬件平台一旦固化，系统功能将无法按实际需要进一步拓展，然而客户的应用要求是多种多样的，功能单一的系统无法适应多种应用场合，并且开发多品种和功能的无人机势必造成设计周期加长和硬件成本的过多投入。However, the current mainstream UAVs only use a closed flight control system composed of a microprocessor and dedicated peripheral hardware, and its backward flight control system has increasingly become a major obstacle to the development of UAV technology. It can only realize a single flight function. Once the hardware platform is solidified, the system functions will not be further expanded according to actual needs. However, the customer's application requirements are diverse, and the system with a single function cannot adapt to a variety of applications, and the development of multiple varieties and Unmanned aerial vehicles with more functions will inevitably result in longer design cycles and excessive investment in hardware costs.
为了满足更多软性应用环境和解决专用飞控系统的封闭性问题，急需一种硬件架构简化却具有可重构功能的无人机飞行控制系统。In order to meet more soft application environments and solve the closed problem of special flight control systems, there is an urgent need for a UAV flight control system with simplified hardware architecture but reconfigurable functions.
发明内容Contents of the invention
本发明的目的是提供一种通过可重构性编程实现多种飞行功能，从而减少系统的硬件成本和满足多功能要求的无人机飞行控制系统。The purpose of the present invention is to provide a UAV flight control system that realizes multiple flight functions through reconfigurable programming, thereby reducing the hardware cost of the system and meeting multi-functional requirements.
本发明的另一目的是，提供一种无人机飞行控制方法，通过可重构性编程实现多种飞行功能，从而减少系统的硬件成本和满足多功能要求。Another object of the present invention is to provide a UAV flight control method, which realizes various flight functions through reconfigurable programming, thereby reducing the hardware cost of the system and meeting multi-functional requirements.
为了实现上述目的，本发明公开了一种无人机飞行控制系统，所述无人机上设置有用于监测其运行状态的若干传感器和为所述无人机提供动力的伺服单元，该无人机飞行控制系统包括可编程控制单元、CPU单元。所述可编程控制单元与所述若干传感器和伺服单元电性连接，用于采集并解析所述若干传感器和所述无人机的遥控器的数据，并向所述伺服单元发送飞行动作数据；所述CPU单元与所述可编程控制单元电性连接，用于根据所述可编程控制单元解析的数据运行无人机飞行控制算法程序并将得出的飞行动作数据输出给所述可编程控制单元。In order to achieve the above object, the present invention discloses a UAV flight control system, the UAV is provided with several sensors for monitoring its operating status and a servo unit that provides power for the UAV, the UAV The flight control system includes a programmable control unit and a CPU unit. The programmable control unit is electrically connected to the several sensors and the servo unit, and is used to collect and analyze the data of the several sensors and the remote controller of the drone, and send flight action data to the servo unit; The CPU unit is electrically connected to the programmable control unit, and is used to run the UAV flight control algorithm program according to the data analyzed by the programmable control unit and output the obtained flight action data to the programmable control unit. unit.
与现有技术相比，本发明所公开的无人机飞行控制系统采用CPU单元和可编程控制单元相结合构成无人机飞行控制系统的系统架构，在该系统架构中，CPU单元仅需担负运行飞行控制算法程序任务，由于可编程控制单元具有重构性强的特点，可编程拓展多种协议和类型的信号采集和输出硬件模块，极大减少飞行控制系统众多外设接口芯片的使用，简化了系统的硬件架构。CPU单元只需通过通讯协议与可编程控制单元进行数据交互即可获取各种外部传感器的实现数据，减少CPU的运算压力，同时通过CPU单元实现软件程序的重构性和可编程控制单元实现硬件架构的重构性，使得无人机飞行控制系统能满足多种设计任务，而且便于进行二次开发，极大减少了设计成本。Compared with the prior art, the UAV flight control system disclosed in the present invention adopts the combination of the CPU unit and the programmable control unit to form the system architecture of the UAV flight control system. In this system architecture, the CPU unit only needs to be responsible for To run flight control algorithm program tasks, due to the strong reconfigurability of the programmable control unit, it can be programmed to expand various protocols and types of signal acquisition and output hardware modules, which greatly reduces the use of many peripheral interface chips in the flight control system. The hardware architecture of the system is simplified. The CPU unit only needs to exchange data with the programmable control unit through the communication protocol to obtain the realization data of various external sensors, reduce the computing pressure of the CPU, and realize the reconfiguration of the software program through the CPU unit and the realization of the hardware by the programmable control unit The reconfigurability of the architecture enables the UAV flight control system to meet a variety of design tasks, and it is convenient for secondary development, which greatly reduces the design cost.
较佳地，所述可编程控制单元包括FPGA处理器。Preferably, the programmable control unit includes an FPGA processor.
较佳地，于所述FPGA处理器内自定义构造有一32位的Nios II协处理器，所述NiosII协处理器内嵌入自定义的传感器接收IP核，所述传感器接收IP核用于接收并解析所述若干传感器所采集到的数据。Preferably, a 32-bit Nios II coprocessor is custom-built in the FPGA processor, and a self-defined sensor is embedded in the NiosII coprocessor to receive the IP core, and the sensor receives the IP core for receiving and Analyzing the data collected by the plurality of sensors.
较佳地，于所述FPGA处理器内自定义构造有PWM接收模块和PWM输出模块，所述PWM接收模块用于接收并解析所述无人机的遥控器的遥控数据，所述PWM输出模块与所述伺服单元电性连接，用于向所述伺服单元输出控制所述无人机飞行状态之飞行动作数据。Preferably, a PWM receiving module and a PWM output module are custom-built in the FPGA processor, the PWM receiving module is used to receive and analyze the remote control data of the remote controller of the drone, and the PWM output module It is electrically connected with the servo unit, and is used to output flight action data for controlling the flight state of the drone to the servo unit.
较佳地，所述Nios II协处理器通过RS232与所述若干传感器电性连接。Preferably, the Nios II coprocessor is electrically connected to the sensors through RS232.
较佳地，所述无人机飞行控制系统还包括地面站，其与所述CPU单元无线通讯。Preferably, the UAV flight control system further includes a ground station, which communicates wirelessly with the CPU unit.
另外，本发明还公开了一种无人机飞行控制方法，所述无人机上设置有用于监测其运行状态的若干传感器和为所述无人机提供动力的伺服单元，所述无人机飞行控制方法包括：In addition, the present invention also discloses a flight control method for unmanned aerial vehicle, said unmanned aerial vehicle is provided with several sensors for monitoring its operating status and a servo unit for providing power for said unmanned aerial vehicle, said unmanned aerial vehicle flies Control methods include:
1)、以可编程控制单元和CPU单元结合构成所述无人机飞行的主控制架构，所述CPU单元用于运行所述无人机飞行控制算法程序，；1), combined with a programmable control unit and a CPU unit to form the main control framework of the flight of the unmanned aerial vehicle, the CPU unit is used to run the flight control algorithm program of the unmanned aerial vehicle;
2)、在可编程控制单元内自定义构造出一采集并解析所述若干传感器所采集到的数据的协处理器模块；2), in the programmable control unit, custom construct a coprocessor module that collects and analyzes the data collected by the sensors;
3)、在可编程控制单元内自定义构造出若干分别与所述CPU单元和伺服单元通讯的接口模块以所述CPU单元可根据所述可编程控制单元解析的数据运行无人机飞行控制算法程序并将得出的飞行动作数据通过给所述可编程控制单元发送给所述伺服单元。3), in the programmable control unit, a number of interface modules that are respectively communicated with the CPU unit and the servo unit are self-defined, and the UAV flight control algorithm can be operated by the CPU unit according to the data analyzed by the programmable control unit program and send the obtained flight maneuver data to the servo unit through the programmable control unit.
较佳地，所述可编程控制单元包括FPGA处理器。Preferably, the programmable control unit includes an FPGA processor.
较佳地，所述协处理器模块为一32位的Nios II协处理器，所述Nios II协处理器内嵌入自定义的传感器接收IP核，所述传感器接收IP核用于接收并解析所述若干传感器所采集到的数据。Preferably, the coprocessor module is a 32-bit Nios II coprocessor, embedded in the Nios II coprocessor is a self-defined sensor receiving IP core, and the sensor receiving IP core is used to receive and resolve the data collected by several sensors.
较佳地，所述接口模块包括PWM接收模块、PWM输出模块、Mobus端口，所述PWM接收模块用于所述FPGA处理器接收并解析所述传感器的数据，所述PWM输出模块用于向所述伺服单元输出控制无人机飞行的数据，所述Mobus端口用于所述Nios II协处理器向所述CPU单元发送数据。Preferably, the interface module includes a PWM receiving module, a PWM output module, and a Mobus port, the PWM receiving module is used for the FPGA processor to receive and analyze the data of the sensor, and the PWM output module is used for sending to the Said servo unit outputs data for controlling the flight of the drone, and said Mobus port is used for said Nios II coprocessor to send data to said CPU unit.
附图说明Description of drawings
图1为本发明实施例无人机飞行控制系统的系统架构图。FIG. 1 is a system architecture diagram of a UAV flight control system according to an embodiment of the present invention.
具体实施方式Detailed ways
为详细说明本发明的技术内容、结构特征、实现原理及所实现目的及效果，以下结合实施方式并配合附图详予说明。In order to describe the technical content, structural features, realization principle, purpose and effect of the present invention in detail, the following will be described in detail in conjunction with the embodiments and accompanying drawings.
本发明公开了一种无人机飞行控制系统，如图1所示，无人机上设置有用于监测其运行状态的若干传感器4和为无人机提供动力的伺服单元6，无人机飞行控制系统包括可编程控制单元1和CPU单元2。可编程控制单元1与若干传感器4、无人机的遥控器5和伺服单元6电性连接，用于采集并解析若干传感器4和遥控器5的数据，并向伺服单元6发送飞行动作数据。CPU单元2与可编程控制单元1电性连接，用于根据可编程控制单元1解析的数据运行无人机飞行控制算法程序并将得出的飞行动作数据输出给可编程控制单元1。较佳地，本发明无人机飞行控制系统还设置有地面站3，地面站3与CPU单元2无线通讯，本实施例中，地面站3与CPU单元2采用GPS通讯，用于接收无人机传回的数据，并由地面站3向CPU单元2实时更新控制程序。The invention discloses a UAV flight control system. As shown in FIG. 1 , the UAV is provided with several sensors 4 for monitoring its operating state and a servo unit 6 for powering the UAV. The system includes a programmable control unit 1 and a CPU unit 2 . The programmable control unit 1 is electrically connected with several sensors 4 , the remote controller 5 and the servo unit 6 of the drone, and is used to collect and analyze the data of several sensors 4 and the remote controller 5 , and send flight action data to the servo unit 6 . The CPU unit 2 is electrically connected to the programmable control unit 1, and is used to run the UAV flight control algorithm program according to the data analyzed by the programmable control unit 1 and output the obtained flight action data to the programmable control unit 1. Preferably, the UAV flight control system of the present invention is also provided with a ground station 3, and the ground station 3 communicates wirelessly with the CPU unit 2. In this embodiment, the ground station 3 and the CPU unit 2 use GPS communication for receiving unmanned The data returned by the machine, and the ground station 3 updates the control program to the CPU unit 2 in real time.
采用上述结构的无人机飞行控制系统，采用CPU单元2和可编程控制单元1相结合构成无人机飞行控制系统的系统架构，在该系统架构中，CPU单元2担负运行飞行控制算法程序任务，由于可编程控制单元具有重构性强的特点，可编程拓展多种协议和类型的信号采集和输出硬件模块，极大减少飞行控制系统众多外设接口芯片的使用，简化了系统的硬件架构。CPU单元2只需通过通讯协议与可编程控制单元1进行数据交互即可获取各种外部传感器4的实时数据，减少CPU单元2的运算压力，同时通过CPU单元2实现软件程序的重构性和可编程控制单元1实现硬件架构的重构性，使得无人机飞行控制系统能满足多种设计任务，而且便于进行二次开发，极大减少了设计成本。The UAV flight control system adopting the above structure adopts the combination of CPU unit 2 and programmable control unit 1 to form the system architecture of the UAV flight control system. In this system architecture, the CPU unit 2 is responsible for running the flight control algorithm program task , due to the strong reconfigurability of the programmable control unit, it can be programmed to expand various protocols and types of signal acquisition and output hardware modules, which greatly reduces the use of many peripheral interface chips in the flight control system and simplifies the hardware architecture of the system . The CPU unit 2 only needs to exchange data with the programmable control unit 1 through the communication protocol to obtain real-time data from various external sensors 4, which reduces the computing pressure of the CPU unit 2, and at the same time realizes the reconfiguration and performance of the software program through the CPU unit 2. The programmable control unit 1 realizes the reconfigurability of the hardware architecture, so that the UAV flight control system can meet various design tasks, and is convenient for secondary development, greatly reducing the design cost.
本发明无人机飞行控制系统的另一较佳实施例中，可编程控制单元1包括FPGA处理器。本实施例中，在进行无人机飞行控制系统的具体开发时，在FPGA处理器内自定义构造有一32位的Nios II协处理器10，Nios II协处理器10内嵌入自定义的传感器接收IP核，传感器接收IP核用于接收并解析若干传感器4所采集到的数据。工作时，Nios II协处理器10采集每一个传感器4所采集到的数据，然后解析，将解析好的数据存放在FPGA的特定寄存器内，供CPU单元2读取，或者以特定格式帧用Mobus发送到CPU单元2,CPU单元2拿来即用，节省大量的运算时间，从而有效提高无人机飞行控制系统的运行效率。本实施例中，Nios II协处理器10通过mobus接口为CPU单元2间接提供位置，速度，加速度，角度，角速度等传感器4数据。较佳的，本实施例中，Nios II协处理器10通过RS232与若干传感器4电性连接。In another preferred embodiment of the UAV flight control system of the present invention, the programmable control unit 1 includes an FPGA processor. In the present embodiment, when carrying out the specific development of unmanned aerial vehicle flight control system, in the FPGA processor, self-defining structure has a 32-bit Nios II coprocessor 10, embedded in the Nios II coprocessor 10 self-defined sensor receiving The IP core, the sensor receiving IP core is used to receive and analyze the data collected by several sensors 4 . During work, the Nios II coprocessor 10 collects the data collected by each sensor 4, then parses it, stores the parsed data in a specific register of the FPGA, and reads it for the CPU unit 2, or uses the Mobus frame in a specific format Send it to the CPU unit 2, and the CPU unit 2 can be used immediately, saving a lot of computing time, thereby effectively improving the operating efficiency of the UAV flight control system. In this embodiment, the Nios II coprocessor 10 indirectly provides the CPU unit 2 with position, speed, acceleration, angle, angular velocity and other sensor 4 data through the mobus interface. Preferably, in this embodiment, the Nios II coprocessor 10 is electrically connected to several sensors 4 through RS232.
为了使得FPGA处理器与无人机的有效沟通，本发明无人机飞行控制系统的另一较佳实施例中，于FPGA处理器内自定义构造有PWM接收模块11和PWM输出模块12，PWM接收模块11用于接收并解析无人机的遥控器5的遥控数据，PWM输出模块12与伺服单元6电性连接，用于向伺服单元6输出控制无人机飞行状态之数据。In order to effectively communicate between the FPGA processor and the unmanned aerial vehicle, in another preferred embodiment of the unmanned aerial vehicle flight control system of the present invention, a PWM receiving module 11 and a PWM output module 12 are custom-built in the FPGA processor. The receiving module 11 is used to receive and analyze the remote control data of the remote controller 5 of the drone. The PWM output module 12 is electrically connected to the servo unit 6 and used to output data to the servo unit 6 to control the flight state of the drone.
采用上述结构的无人机飞行控制系统在进行工作时，在无人机执行自动飞行模式时，传感器4将无人机的数据信息(包括：GPS位置数据、速度数据、角速度数据等)传输给FPGA处理器中的Nios II协处理器10，这些数据信息经过Nios II协处理器10的解析处理后发送给CPU单元2，然后CPU单元2依据上述数据信息为参数经过运行计算后，得出无人机进一步的控制数据，然后将控制数据发送回FPGA的PWM输出模块12，由FPGA对无人机的伺服单元6进行动作控制。当无人机执行手动飞行模式时，由FPGA处理器中的PWM接收模块11采集遥控器5的遥控信息，遥控信息经过PWM接收模块11的解析处理后发送给CPU单元2，CPU单元2以上述遥控信息为参数进行计算，计算结果再传输给FPGA的PWM输出模块12，由PWM输出模块将上述作为控制数据的计算结果传输给无人机的伺服单元6，进而伺服单元6控制无人机的飞行动作。在上述工作过程中，FPGA处理器采集传感器4和遥控器5的数据，以及与伺服单元6的沟通均是独立于CPU单元2工作的，从而在避开CPU单元2的情况下也能保持数据的实时性和无人机的稳定飞行，同时FPGA处理器在数据传输方面具有天然优势，其并行特性使得外部数据具有极大的新鲜度，而且本发明无人机飞行控制系统还能按照具体需求进行编程重构，比如拓展更多PWM输入输出模块，添加传感器数据采集接口，添加FPGA摄像拍照获取实时图片等，这些均无需加重CPU运算负担和增加控制板硬件芯片，保证了同一个硬件平台能满足多种飞行需求。在FPGA处理器的辅助之下，CPU单元2无须在获取传感器4数据上耗时，使得CPU单元2集中资源用于飞行控制算法程序的执行。When the UAV flight control system adopting the above structure is working, when the UAV executes the automatic flight mode, the sensor 4 transmits the data information (including: GPS position data, velocity data, angular velocity data, etc.) of the UAV to the Nios II coprocessor 10 in the FPGA processor, these data information are sent to CPU unit 2 after the analytical processing of Nios II coprocessor 10, then CPU unit 2 is after the operation calculation of parameter according to above-mentioned data information, draws no The human-machine further controls the data, and then sends the control data back to the PWM output module 12 of the FPGA, and the FPGA controls the servo unit 6 of the drone. When the unmanned aerial vehicle carried out the manual flight mode, the remote control information of the remote controller 5 was collected by the PWM receiving module 11 in the FPGA processor. The remote control information is calculated as a parameter, and the calculation result is then transmitted to the PWM output module 12 of the FPGA, and the above-mentioned calculation result as control data is transmitted to the servo unit 6 of the drone by the PWM output module, and then the servo unit 6 controls the control of the drone. flight maneuvers. In the above working process, the FPGA processor collects the data of the sensor 4 and the remote controller 5, and communicates with the servo unit 6 all independently of the CPU unit 2, so that the data can be kept while avoiding the CPU unit 2 The real-time performance and the stable flight of the UAV. At the same time, the FPGA processor has a natural advantage in data transmission. Its parallel characteristics make the external data have great freshness, and the UAV flight control system of the present invention can also be used according to specific needs. Perform programming reconstruction, such as expanding more PWM input and output modules, adding sensor data acquisition interfaces, adding FPGA cameras to take pictures to obtain real-time pictures, etc., all of which do not need to increase the CPU computing burden and increase the hardware chip of the control board, ensuring that the same hardware platform can Meet a variety of flight needs. With the assistance of the FPGA processor, the CPU unit 2 does not need to spend time in acquiring data from the sensor 4, so that the CPU unit 2 concentrates resources on the execution of the flight control algorithm program.
另外，本发明还还公开了一种无人机飞行控制方法，如图1所示，无人机上设置有用于监测其运行状态的若干传感器4和为无人机提供动力的伺服单元6，无人机飞行控制方法包括：In addition, the present invention also discloses a flight control method for a UAV. As shown in FIG. Man-machine flight control methods include:
1)、以可编程控制单元1和CPU单元2结合构成无人机飞行的主控制架构，CPU单元2内搭载有用于运行无人机的飞行控制的算法程序；1), combined with the programmable control unit 1 and the CPU unit 2 to form the main control framework of the unmanned aerial vehicle flight, the CPU unit 2 is equipped with an algorithm program for operating the flight control of the unmanned aerial vehicle;
2)、在可编程控制单元1内自定义构造出一采集并解析若干传感器4所采集到的数据的协处理器模块；2), in the programmable control unit 1, custom construct a coprocessor module that collects and parses the data collected by some sensors 4;
3)、在可编程控制单元1内自定义构造出若干分别与CPU单元2和伺服单元6通讯的接口模块以CPU单元2可根据可编程控制单元1解析的数据运行无人机飞行控制算法程序并将得出的飞行动作数据通过给可编程控制单元1发送给伺服单元6。3) In the programmable control unit 1, a number of interface modules that communicate with the CPU unit 2 and the servo unit 6 are self-defined, and the CPU unit 2 can run the UAV flight control algorithm program according to the data analyzed by the programmable control unit 1 And the obtained flight maneuver data is sent to the servo unit 6 through the programmable control unit 1 .
更进一步地，可编程控制单元1为FPGA处理器，协处理器模块为一32位的Nios II协处理器10，Nios II协处理器10内嵌入自定义的传感器接收IP核，传感器接收IP核用于接收并解析若干传感器4所采集到的数据，Nios II协处理器10通过RS232与若干传感器4电性连接，上述接口模块包括PWM接收模块11、PWM输出模块12、Mobus端口，PWM接收模块11用于FPGA处理器接收并解析传感器4的数据，PWM输出模块12用于向伺服单元6输出控制无人机飞行的数据，Mobus端口用于Nios I I协处理器10向CPU处理单元发送数据。Furthermore, the programmable control unit 1 is an FPGA processor, and the coprocessor module is a 32-bit Nios II coprocessor 10, and the Nios II coprocessor 10 is embedded with a self-defined sensor receiving IP core, and the sensor receives the IP core For receiving and analyzing the data collected by several sensors 4, the Nios II coprocessor 10 is electrically connected with several sensors 4 through RS232, and the above-mentioned interface module includes a PWM receiving module 11, a PWM output module 12, a Mobus port, and a PWM receiving module 11 is used for the FPGA processor to receive and analyze the data of the sensor 4, the PWM output module 12 is used to output the data for controlling the flight of the drone to the servo unit 6, and the Mobus port is used for the Nios II coprocessor 10 to send data to the CPU processing unit.
上述无人机飞行控制方法的工作过程与上述本发明无人机飞行控制系统的过程相同，在此不再赘述。The working process of the above-mentioned UAV flight control method is the same as the above-mentioned process of the UAV flight control system of the present invention, and will not be repeated here.
以上所揭露的仅为本发明的较佳实例而已，当然不能以此来限定本发明之权利范围，因此依本发明申请专利范围所作的等同变化，仍属于本发明所涵盖的范围。The above disclosures are only preferred examples of the present invention, and of course cannot be used to limit the scope of rights of the present invention. Therefore, equivalent changes made according to the patent scope of the present invention still fall within the scope of the present invention.
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