CN112200481A - Electronic fence calculation method, device and medium for unmanned aerial vehicle - Google Patents
Electronic fence calculation method, device and medium for unmanned aerial vehicle Download PDFInfo
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Abstract
The application discloses a method and equipment for calculating an electronic fence of an unmanned aerial vehicle and a storage medium. The unmanned aerial vehicle monitoring system receives a flight plan application from a user terminal; the flight plan application comprises starting position information of the target unmanned aerial vehicle corresponding to the user terminal and the type of the unmanned aerial vehicle. The unmanned aerial vehicle monitoring system determines a first electronic fence of the unmanned aerial vehicle according to the unmanned aerial vehicle type of the target unmanned aerial vehicle and a preset airspace position range; first fence is unmanned aerial vehicle's suitable airspace of flying. In first fence, unmanned aerial vehicle monitored control system confirms target unmanned aerial vehicle's second fence and sends to unmanned aerial vehicle ground satellite station according to target unmanned aerial vehicle's initial position information to make unmanned aerial vehicle ground satellite station write in the target unmanned aerial vehicle with the second fence.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to an electronic fence calculation method, electronic fence calculation equipment and electronic fence calculation media for an unmanned aerial vehicle.
Background
With the development of science and technology, the holding capacity of the unmanned aerial vehicle is rapidly increased, and the unmanned aerial vehicle is widely applied to various industries. Meanwhile, with the rapid increase of the holding capacity of the unmanned aerial vehicle, various accidents such as 'black flight' and disturbance of the unmanned aerial vehicle frequently occur, so that serious threats are generated on the flight safety of military and civil aviation and social public safety, and the healthy development of the unmanned aerial vehicle industry is influenced.
Based on this, how to strengthen the supervision of the drone becomes crucial.
Disclosure of Invention
The embodiment of the specification provides a method, equipment and a medium for calculating an electronic fence of an unmanned aerial vehicle, and is used for solving the following technical problems in the prior art: various accidents such as 'black flight' and disturbance of the unmanned aerial vehicle occur frequently, so that serious threats are generated to the flight safety of military and civil aviation and social public safety, and the healthy development of the unmanned aerial vehicle industry is influenced.
The embodiment of the specification adopts the following technical scheme:
a method of electronic fence computation for a drone, the method comprising:
the unmanned aerial vehicle monitoring system receives a flight plan application from a user terminal; the flight plan application comprises starting position information of a target unmanned aerial vehicle and a type of the unmanned aerial vehicle, which correspond to the user terminal;
the unmanned aerial vehicle monitoring system determines a first electronic fence of the unmanned aerial vehicle according to the unmanned aerial vehicle type of the target unmanned aerial vehicle and a preset airspace position range; the first electronic fence is a suitable flight airspace of the unmanned aerial vehicle;
in the first electronic fence, the unmanned aerial vehicle monitoring system determines a second electronic fence of the target unmanned aerial vehicle according to the initial position information of the target unmanned aerial vehicle and sends the second electronic fence to an unmanned aerial vehicle ground station, so that the unmanned aerial vehicle ground station writes the second electronic fence into the target unmanned aerial vehicle.
In some embodiments of the present application, the method further comprises:
the unmanned aerial vehicle monitoring system examines and approves the flight plan application according to a preset rule, and determines whether the flight plan application is matched with the preset rule or not to obtain a corresponding matching result;
the unmanned aerial vehicle ground station sends a corresponding flight plan acquisition request to the unmanned aerial vehicle monitoring; wherein the flight plan acquisition request is used for inquiring the matching result;
the unmanned aerial vehicle monitoring system sends the flight plan application to the unmanned aerial vehicle ground station under the condition that the matching result is that the flight plan application is matched with the preset rule;
the unmanned aerial vehicle ground station receives a flight plan application from the unmanned aerial vehicle monitoring system, and sends a corresponding control instruction to a target unmanned aerial vehicle corresponding to the flight plan application so as to unlock the target unmanned aerial vehicle;
when the matching result is that the flight plan application is matched with the preset rule, the unmanned aerial vehicle monitoring system sends corresponding prompt information to the unmanned aerial vehicle ground station to prompt that the matching result of the unmanned aerial vehicle corresponding to the flight plan acquisition request is that the flight plan application is not matched with the preset rule;
and the unmanned aerial vehicle ground station determines the locking state of the unmanned aerial vehicle corresponding to the query information according to the received prompt information, and sends a corresponding control instruction to the unmanned aerial vehicle to enable the unmanned aerial vehicle to be locked under the condition that the locking state is unlocked.
In some embodiments of the present application, the method further comprises: and the unmanned aerial vehicle monitoring system sends the query result to the user terminal.
An electronic fence computing device of a drone, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to:
the unmanned aerial vehicle monitoring system receives a flight plan application from a user terminal; the flight plan application comprises starting position information of a target unmanned aerial vehicle and a type of the unmanned aerial vehicle, which correspond to the user terminal;
the unmanned aerial vehicle monitoring system determines a first electronic fence of the unmanned aerial vehicle according to the unmanned aerial vehicle type of the target unmanned aerial vehicle and a preset airspace position range; the first electronic fence is a suitable flight airspace of the unmanned aerial vehicle;
in the first electronic fence, the unmanned aerial vehicle monitoring system determines a second electronic fence of the target unmanned aerial vehicle according to the initial position information of the target unmanned aerial vehicle and sends the second electronic fence to an unmanned aerial vehicle ground station, so that the unmanned aerial vehicle ground station writes the second electronic fence into the target unmanned aerial vehicle.
A non-transitory computer storage medium of electronic fence computation of a drone, storing computer-executable instructions configured to:
the unmanned aerial vehicle monitoring system receives a flight plan application from a user terminal; the flight plan application comprises starting position information of a target unmanned aerial vehicle and a type of the unmanned aerial vehicle, which correspond to the user terminal;
the unmanned aerial vehicle monitoring system determines a first electronic fence of the unmanned aerial vehicle according to the unmanned aerial vehicle type of the target unmanned aerial vehicle and a preset airspace position range; the first electronic fence is a suitable flight airspace of the unmanned aerial vehicle;
in the first electronic fence, the unmanned aerial vehicle monitoring system determines a second electronic fence of the target unmanned aerial vehicle according to the initial position information of the target unmanned aerial vehicle and sends the second electronic fence to an unmanned aerial vehicle ground station, so that the unmanned aerial vehicle ground station writes the second electronic fence into the target unmanned aerial vehicle.
The embodiment of the specification adopts at least one technical scheme which can achieve the following beneficial effects: can carry out corresponding management and control to unmanned aerial vehicle flight through setting for corresponding fence, be favorable to avoiding unmanned aerial vehicle to fly black, disturb the navigation problem, also be favorable to improving flight safety, public safety, promote the healthy development of unmanned aerial vehicle industry. Moreover, through the scheme that this application provided, can realize unmanned aerial vehicle's fence's standardization, improve unmanned aerial vehicle's fence's real-time.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a flowchart of an electronic fence calculation method for a drone provided in an embodiment of the present specification;
fig. 2 is an application scenario diagram of an electronic fence calculation method for a drone provided in an embodiment of the present specification;
fig. 3 is an interaction diagram of an electronic fence calculation method for a drone provided in an embodiment of the present specification;
fig. 4 is a view of a temporary fence of an unmanned aerial vehicle calculation method provided in an embodiment of the present specification
Fig. 5 is a schematic structural diagram of an electronic fence calculation method device of an unmanned aerial vehicle, which is provided in an embodiment of the present application and corresponds to fig. 1, for carrying the electronic fence calculation method of the unmanned aerial vehicle.
Detailed Description
In order to make the objects, technical solutions and advantages of the present disclosure more apparent, the technical solutions of the present disclosure will be clearly and completely described below with reference to the specific embodiments of the present disclosure and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person skilled in the art without making any inventive step based on the embodiments in the description belong to the protection scope of the present application.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Various accidents such as 'black flight' and disturbance of the unmanned aerial vehicle are frequently caused, and serious threats are generated to the flight safety and public safety of military and civil aviation. Therefore, in order to deal with this difficulty, besides actively exploring anti-drone technology, many drone enterprises have begun to develop and deploy electronic fence technology, trying to restrict entry of drones into sensitive, high-risk areas from the source. With the help of the electronic fence technology, a polygonal area can be planned in advance by depending on a system, and tracking and alarming of a positioning source are completed through positioning technologies such as Bluetooth, WiFi and GPS, so that the flight area of the unmanned aerial vehicle is limited.
However, most unmanned aerial vehicle's fence still is write in the unmanned aerial vehicle system by the mode of updating flight control firmware by unmanned aerial vehicle manufacturer in the present, and the process needs unmanned aerial vehicle user to take the certified materials of official (public security, civil aviation, airspace management department) authority, submits the certified materials to unmanned aerial vehicle manufacturer, and unmanned aerial vehicle manufacturer makes specific firmware, writes into a series of operations such as unmanned aerial vehicle system with the firmware by the manufacturer again and can accomplish. The whole process is complicated, a large amount of time and cost of unmanned aerial vehicle users and manufacturers are needed to be spent, and timeliness and accuracy of the electronic fence are difficult to guarantee. If the unmanned aerial vehicle user need carry out the update of fence to the unmanned aerial vehicle of multiple different manufacturers model, still need go on through each unmanned aerial vehicle manufacturer respectively to unable real-time is relatively poor, and is relatively poor to unmanned aerial vehicle's management and control effect.
Based on this, the embodiment of the application provides an electronic fence calculation method and a corresponding scheme for an unmanned aerial vehicle.
Fig. 1 is a flowchart of an electronic fence calculation method for an unmanned aerial vehicle according to an embodiment of the present application. As shown in fig. 1, a method for calculating an electronic fence of a drone provided by an embodiment of the present application may include the following steps:
s301, the unmanned aerial vehicle monitoring system receives flight plan application from the user terminal.
The flight plan application comprises starting position information of a target unmanned aerial vehicle corresponding to the user terminal and the type of the unmanned aerial vehicle.
Fig. 2 is an application scenario diagram of an electronic fence calculation method for an unmanned aerial vehicle according to an embodiment of the present application. The user terminal can communicate with the unmanned aerial vehicle monitoring system through the internet, and the user terminal can generate flight plan application according to the operation of a user and send the flight plan application to the corresponding unmanned aerial vehicle monitoring system.
S302, the unmanned aerial vehicle monitoring system determines a first electronic fence of the unmanned aerial vehicle according to the unmanned aerial vehicle type of the target unmanned aerial vehicle and a preset airspace position range.
Wherein, first fence is unmanned aerial vehicle's suitable airspace of flying.
S303, in the first electronic fence, the unmanned aerial vehicle monitoring system determines a second electronic fence of the target unmanned aerial vehicle according to the initial position information of the target unmanned aerial vehicle and sends the second electronic fence to an unmanned aerial vehicle ground station, so that the unmanned aerial vehicle ground station writes the second electronic fence into the target unmanned aerial vehicle.
As shown in fig. 2, the drone monitoring system may establish communication with the drone ground station through the internet, the wireless base station, so that the drone ground station may accept the second electronic fence generated by the drone monitoring system. The unmanned aerial vehicle ground satellite station can carry out radio communication with unmanned aerial vehicle to make unmanned aerial vehicle ground satellite station write in the target unmanned aerial vehicle with the second fence.
Fig. 3 is an interaction diagram of the electronic fence calculation method for the unmanned aerial vehicle according to the embodiment of the present application, and as shown in fig. 3, a user terminal of the unmanned aerial vehicle submits a flight plan to apply to an unmanned aerial vehicle monitoring system, and the unmanned aerial vehicle monitoring system can plan airspace in advance according to rules and issue airspace data corresponding to the planned airspace. The unmanned aerial vehicle supervisory system obtains corresponding second electronic fence according to the received flight plan application and airspace data, and sends the second electronic fence to the unmanned aerial vehicle ground station. The unmanned aerial vehicle ground satellite station can carry out simple processing to the fence data, updates the second fence to unmanned aerial vehicle in.
In some embodiments of the present application, except that the electronic fence that can update the unmanned aerial vehicle can also be to unlocking the unmanned aerial vehicle according to the electronic fence, specifically as follows:
the unmanned aerial vehicle monitoring system examines and approves the flight plan application according to a preset rule, and determines whether the flight plan application is matched with the preset rule or not to obtain a corresponding matching result;
the unmanned aerial vehicle ground station sends a corresponding flight plan acquisition request to the unmanned aerial vehicle monitoring; wherein the flight plan acquisition request is used for inquiring the matching result;
the unmanned aerial vehicle monitoring system sends the flight plan application to the unmanned aerial vehicle ground station under the condition that the matching result is that the flight plan application is matched with the preset rule;
the unmanned aerial vehicle ground station receives a flight plan application from the unmanned aerial vehicle monitoring system, and sends a corresponding control instruction to a target unmanned aerial vehicle corresponding to the flight plan application so as to unlock the target unmanned aerial vehicle;
when the matching result is that the flight plan application is matched with the preset rule, the unmanned aerial vehicle monitoring system sends corresponding prompt information to the unmanned aerial vehicle ground station to prompt that the matching result of the unmanned aerial vehicle corresponding to the flight plan acquisition request is that the flight plan application is not matched with the preset rule;
and the unmanned aerial vehicle ground station determines the locking state of the unmanned aerial vehicle corresponding to the query information according to the received prompt information, and sends a corresponding control instruction to the unmanned aerial vehicle to enable the unmanned aerial vehicle to be locked under the condition that the locking state is unlocked.
Fig. 4 is an interaction diagram of an electronic fence calculation method for an unmanned aerial vehicle according to an embodiment of the present application. As shown in fig. 4, the user sends a flight plan application to the unmanned aerial vehicle monitoring system in a key point, and examines and approves the flight plan application, and under the condition that the examination and approval are qualified, the unmanned aerial vehicle monitoring system obtains a corresponding second electronic fence according to the received flight plan application and airspace data, and sends the second electronic fence to the unmanned aerial vehicle ground station. The unmanned aerial vehicle ground satellite station can carry out simple processing to the fence data, updates the second fence to unmanned aerial vehicle in. As shown in fig. 4, the drone ground station may send a flight plan acquisition request to the drone supervisory system to obtain the approval results of the drone.
Through the above scheme, can carry out corresponding management and control to unmanned aerial vehicle flight through setting for corresponding fence, be favorable to avoiding unmanned aerial vehicle to fly, disturb the navigation problem futilely, also be favorable to improving flight safety, public safety, promote the healthy development of unmanned aerial vehicle industry. Moreover, through the scheme that this application provided, can realize unmanned aerial vehicle's fence's standardization, improve unmanned aerial vehicle's fence's real-time.
An electronic fence computing device of a drone, comprising: at least one processor; and a memory communicatively coupled to the at least one processor.
Wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to:
the unmanned aerial vehicle monitoring system receives a flight plan application from a user terminal; the flight plan application comprises starting position information of a target unmanned aerial vehicle and a type of the unmanned aerial vehicle, which correspond to the user terminal;
the unmanned aerial vehicle monitoring system determines a first electronic fence of the unmanned aerial vehicle according to the unmanned aerial vehicle type of the target unmanned aerial vehicle and a preset airspace position range; the first electronic fence is a suitable flight airspace of the unmanned aerial vehicle;
in the first electronic fence, the unmanned aerial vehicle monitoring system determines a second electronic fence of the target unmanned aerial vehicle according to the initial position information of the target unmanned aerial vehicle and sends the second electronic fence to an unmanned aerial vehicle ground station, so that the unmanned aerial vehicle ground station writes the second electronic fence into the target unmanned aerial vehicle.
A non-transitory computer storage medium of electronic fence computation of a drone, storing computer-executable instructions configured to:
the unmanned aerial vehicle monitoring system receives a flight plan application from a user terminal; the flight plan application comprises starting position information of a target unmanned aerial vehicle and a type of the unmanned aerial vehicle, which correspond to the user terminal;
the unmanned aerial vehicle monitoring system determines a first electronic fence of the unmanned aerial vehicle according to the unmanned aerial vehicle type of the target unmanned aerial vehicle and a preset airspace position range; the first electronic fence is a suitable flight airspace of the unmanned aerial vehicle;
in the first electronic fence, the unmanned aerial vehicle monitoring system determines a second electronic fence of the target unmanned aerial vehicle according to the initial position information of the target unmanned aerial vehicle and sends the second electronic fence to an unmanned aerial vehicle ground station, so that the unmanned aerial vehicle ground station writes the second electronic fence into the target unmanned aerial vehicle.
The embodiments in the present application are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the device and media embodiments, the description is relatively simple as it is substantially similar to the method embodiments, and reference may be made to some descriptions of the method embodiments for relevant points.
The device and the medium provided by the embodiment of the application correspond to the method one to one, so the device and the medium also have the similar beneficial technical effects as the corresponding method, and the beneficial technical effects of the method are explained in detail above, so the beneficial technical effects of the device and the medium are not repeated herein.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (5)
1. A method for calculating an electronic fence of an unmanned aerial vehicle, the method comprising:
the unmanned aerial vehicle monitoring system receives a flight plan application from a user terminal; the flight plan application comprises starting position information of a target unmanned aerial vehicle and a type of the unmanned aerial vehicle, which correspond to the user terminal;
the unmanned aerial vehicle monitoring system determines a first electronic fence of the unmanned aerial vehicle according to the unmanned aerial vehicle type of the target unmanned aerial vehicle and a preset airspace position range; the first electronic fence is a suitable flight airspace of the unmanned aerial vehicle;
in the first electronic fence, the unmanned aerial vehicle monitoring system determines a second electronic fence of the target unmanned aerial vehicle according to the initial position information of the target unmanned aerial vehicle and sends the second electronic fence to an unmanned aerial vehicle ground station, so that the unmanned aerial vehicle ground station writes the second electronic fence into the target unmanned aerial vehicle.
2. The method of claim 1, further comprising:
the unmanned aerial vehicle monitoring system examines and approves the flight plan application according to a preset rule, and determines whether the flight plan application is matched with the preset rule or not to obtain a corresponding matching result;
the unmanned aerial vehicle ground station sends a corresponding flight plan acquisition request to the unmanned aerial vehicle monitoring; wherein the flight plan acquisition request is used for inquiring the matching result;
the unmanned aerial vehicle monitoring system sends the flight plan application to the unmanned aerial vehicle ground station under the condition that the matching result is that the flight plan application is matched with the preset rule;
the unmanned aerial vehicle ground station receives a flight plan application from the unmanned aerial vehicle monitoring system, and sends a corresponding control instruction to a target unmanned aerial vehicle corresponding to the flight plan application so as to unlock the target unmanned aerial vehicle;
when the matching result is that the flight plan application is matched with the preset rule, the unmanned aerial vehicle monitoring system sends corresponding prompt information to the unmanned aerial vehicle ground station to prompt that the matching result of the unmanned aerial vehicle corresponding to the flight plan acquisition request is that the flight plan application is not matched with the preset rule;
and the unmanned aerial vehicle ground station determines the locking state of the unmanned aerial vehicle corresponding to the query information according to the received prompt information, and sends a corresponding control instruction to the unmanned aerial vehicle to enable the unmanned aerial vehicle to be locked under the condition that the locking state is unlocked.
3. The method of claim 2, further comprising:
and the unmanned aerial vehicle monitoring system sends the query result to the user terminal.
4. An unmanned aerial vehicle's fence computing device, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to:
the unmanned aerial vehicle monitoring system receives a flight plan application from a user terminal; the flight plan application comprises starting position information of a target unmanned aerial vehicle and a type of the unmanned aerial vehicle, which correspond to the user terminal;
the unmanned aerial vehicle monitoring system determines a first electronic fence of the unmanned aerial vehicle according to the unmanned aerial vehicle type of the target unmanned aerial vehicle and a preset airspace position range; the first electronic fence is a suitable flight airspace of the unmanned aerial vehicle;
in the first electronic fence, the unmanned aerial vehicle monitoring system determines a second electronic fence of the target unmanned aerial vehicle according to the initial position information of the target unmanned aerial vehicle and sends the second electronic fence to an unmanned aerial vehicle ground station, so that the unmanned aerial vehicle ground station writes the second electronic fence into the target unmanned aerial vehicle.
5. A non-transitory computer storage medium storing computer-executable instructions for electronic fence computing for a drone, the computer-executable instructions configured to:
the unmanned aerial vehicle monitoring system receives a flight plan application from a user terminal; the flight plan application comprises starting position information of a target unmanned aerial vehicle and a type of the unmanned aerial vehicle, which correspond to the user terminal;
the unmanned aerial vehicle monitoring system determines a first electronic fence of the unmanned aerial vehicle according to the unmanned aerial vehicle type of the target unmanned aerial vehicle and a preset airspace position range; the first electronic fence is a suitable flight airspace of the unmanned aerial vehicle;
in the first electronic fence, the unmanned aerial vehicle monitoring system determines a second electronic fence of the target unmanned aerial vehicle according to the initial position information of the target unmanned aerial vehicle and sends the second electronic fence to an unmanned aerial vehicle ground station, so that the unmanned aerial vehicle ground station writes the second electronic fence into the target unmanned aerial vehicle.
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