Granted Patent B2

US 12,724,417 · App. 18/759,781 · Granted Sep 1, 2026

Inventors: Mu Fang (Shenzhen, CN); Yifeng Qin (Shenzhen, CN); Chao Ma (Shenzhen, CN)

Assignee: SZ DJI TECHNOLOGY CO., LTD.

G05D1/226G05D2109/20

Abstract

Claims (95)

1 . A method, comprising:

obtaining, by a remote control device, first transmission antenna information of a first antenna of a movable platform, wherein the first transmission antenna information comprises a polarization direction of the first antenna to transmit electromagnetic waves;

determining, by the remote control device, an initial synthetic polarization direction of a second antenna of the remote control device based at least in part on the first transmission antenna information and an initial attitude of the movable platform;

obtaining, by the remote control device, current attitude data indicative of an attitude change of the movable platform compared to the initial attitude;

determining, by the remote control device, a target synthetic polarization direction of the second antenna based at least in part on the current attitude data and the initial synthetic polarization direction: and,

controlling, by the remote control device, the second antenna to receive and/or transmit the electromagnetic waves with the target synthetic polarization direction.

2 . The method according to claim 1 , wherein the current attitude data is determined based at least in part on current attitude information of the movable platform and initial attitude information;

the initial attitude information is attitude information of the movable platform when determining the initial synthetic polarization direction, and the current attitude information is obtained based on at least one of the following:

obtaining the current attitude information of the movable platform based at least in part on an amount of control lever displacement of the remote control device in response to a speed of the movable platform being greater than a preset speed threshold, or

obtaining the current attitude information of the movable platform sent by the movable platform in response to the speed of the movable platform being less than or equal to the preset speed threshold, wherein the current attitude information of the movable platform is measured by a sensor of the movable platform.

3 . The method according to claim 1 , wherein the current attitude data is obtained based at least in part on a speed of the movable platform.

4 . The method according to claim 1 , wherein the second antenna comprises at least one second antenna of a first polarization direction and at least one second antenna of a second polarization direction; and the target synthetic polarization direction is achieved by the at least one second antenna of the first polarization direction and the at least one second antenna of the second polarization direction; or

the movable platform is further provided with at least one first antenna of a third polarization direction and at least one first antenna of a fourth polarization direction, and the first transmission antenna information is configured to indicate the at least one first antenna of the third polarization direction and the at least one first antenna of the fourth polarization direction for transmitting the electromagnetic waves.

5 . The method according to claim 4 , wherein the at least one second antenna of the first polarization direction and the at least one first antenna of the third polarization direction are horizontal polarization antennas, the at least one second antenna of the second polarization direction and the at least one first antenna of the fourth polarization direction are vertical polarization antennas;

each of the initial synthetic polarization direction and the target synthetic polarization direction is one of a plurality of synthetic polarization directions, and the plurality of synthetic polarization directions includes comprises at least one of +45° linear polarization, −45° linear polarization, right-hand circular polarization or left-hand circular polarization.

6 . The method according to claim 5 , wherein the determining of the initial synthetic polarization direction based at least in part on the first transmission antenna information comprises:

determining the initial synthetic polarization direction between the +45° linear polarization and the −45° linear polarization when the first transmission antenna information indicates that antennas for transmitting the electromagnetic waves are the at least one first antenna of the third polarization direction or the at least one first antenna of the fourth polarization direction; or

determining the initial synthetic polarization direction between the left-hand circular polarization and the right-hand circular polarization when the first transmission antenna information indicates that antennas for transmitting the electromagnetic waves are the at least one first antenna of the third polarization direction and the at least one first antenna of the fourth polarization direction.

7 . The method according to claim 6 , wherein

the determining of the initial synthetic polarization direction between the +45° linear polarization and the −45° linear polarization comprises:

obtaining a first channel parameter corresponding to the remote control device receiving signals via the +45° linear polarization and a second channel parameter corresponding to the remote control device receiving signals via the −45° linear polarization, wherein the first channel parameter and the second channel parameter indicate a signal quality of signals received by the remote control device, and

determining, based at least in part on the first channel parameter and the second channel parameter, a linear polarization direction of a best signal quality between the +45° linear polarization and the −45° linear polarization as the initial synthetic polarization direction; and

the determining of the initial synthetic polarization direction between the left-hand circular polarization and the right-hand circular polarization comprises:

obtaining a third channel parameter corresponding to the remote control device receiving signals via the left-hand circular polarization and a fourth channel parameter corresponding to the remote control device receiving signals via the right-hand circular polarization, wherein the third channel parameter and the fourth channel parameter indicate a signal quality of signals received by the remote control device, and

determining, based at least in part on the third channel parameter and the fourth channel parameter, a circular polarization direction of a best signal quality between the left-hand circular polarization and the right-hand circular polarization as the initial synthetic polarization direction.

8 . The method according to claim 1 , wherein the attitude change comprises a roll attitude change; and

the determining of the target synthetic polarization direction comprises:

determining that the target synthetic polarization direction is the initial synthetic polarization direction in response to the roll attitude change of the movable platform not exceeding a first preset angle threshold, or

determining that the target synthetic polarization direction is a second linear polarization direction in response to the roll attitude change of the movable platform exceeding the first preset angle threshold and the initial synthetic polarization direction being a first linear polarization direction.

9 . The method according to claim 1 , wherein the attitude change comprises a yaw attitude change; and

the determining of the target synthetic polarization direction comprises:

determining that the target synthetic polarization direction is the initial synthetic polarization direction in response to the yaw attitude change of the movable platform not exceeding a second preset angle threshold, or

determining in response to the yaw attitude change of the movable platform exceeding the second preset angle threshold and being less than or equal to a third preset angle threshold, the target synthetic polarization direction based at least in part on any of the following scenarios:

Scenario I: determining that the target synthetic polarization direction is a circular polarization direction in response to the initial synthetic polarization direction being a linear polarization direction,

Scenario II: determining that the target synthetic polarization direction is a linear polarization in response to the initial synthetic polarization direction being a circular polarization, or

determining, in response to the yaw attitude change of the movable platform exceeding the third preset angle threshold, the target synthetic polarization direction based at least in part on any of the following scenarios:

Scenario III: determining that the target synthetic polarization direction is a second linear polarization direction in response to the initial synthetic polarization direction being a first linear polarization direction,

Scenario IV: determining that the target synthetic polarization direction is a second circular polarization direction in response to the initial synthetic polarization direction being a first circular polarization direction.

10 . The method according to claim 9 , wherein

the determining that the target synthetic polarization direction is a circular polarization direction comprises:

obtaining a third channel parameter corresponding to the remote control device receiving signals via the left-hand circular polarization and a fourth channel parameter corresponding to the remote control device receiving signals via the right-hand circular polarization, wherein the third channel parameter and the fourth channel parameter indicate a signal quality of signals received by the remote control device, and

determining, based at least in part on the third channel parameter and the fourth channel parameter, a circular polarization direction of a best signal quality between the left-hand circular polarization and the right-hand circular polarization as the target synthetic polarization direction; and

the determining that the target synthetic polarization direction is a linear polarization comprises:

obtaining a first channel parameter corresponding to the remote control device receiving signals via the +45° linear polarization and a second channel parameter corresponding to the remote control device receiving signals via the −45° linear polarization, wherein the first channel parameter and the second channel parameter indicate a signal quality of signals received by the remote control device, and

determining, based at least in part on the first channel parameter and the second channel parameter, a linear polarization direction of a best signal quality between the +45° linear polarization and the −45° linear polarization as the target synthetic polarization direction.

11 . A remote control device, comprising:

at least one non-transitory storage medium storing at least one set of instructions; and

at least one processor in communication with the at least one non-transitory storage medium, wherein during operation, the at least one processor executes the at least one set of instructions to cause the remote control device to at least:

obtain first transmission antenna information of a first antenna of a movable platform, wherein the first transmission antenna information comprises a polarization direction of the first antenna to transmit electromagnetic waves;

determine an initial synthetic polarization direction of a second antenna of the remote control device based at least in part on the first transmission antenna information and an initial attitude of the movable platform;

obtain current attitude data indicative of an attitude change of the movable platform compared to the initial attitude;

determine a target synthetic polarization direction of the second antenna based at least in part on the current attitude data and the initial synthetic polarization direction; and

control the second antenna to receive and/or transmit the electromagnetic waves with the target synthetic polarization direction.

12 . The remote control device according to claim 11 , wherein the current attitude data is determined based at least in part on current attitude information of the movable platform and initial attitude information;

the initial attitude information is attitude information of the movable platform when determining the initial synthetic polarization direction, and the current attitude information is obtained based on at least one of the following:

obtaining the current attitude information of the movable platform based at least in part on an amount of control lever displacement of the remote control device, in response to a speed of the movable platform being greater than a preset speed threshold, or

obtaining the current attitude information of the movable platform sent by the movable platform in response to the speed of the movable platform being less than or equal to the preset speed threshold, wherein the current attitude information is measured by a sensor of the movable platform.

13 . The remote control device according to claim 11 , wherein the current attitude data is obtained based at least in part on a speed of the movable platform.

14 . The remote control device according to claim 11 , wherein the second antenna comprises at least one second antenna of a first polarization direction and at least one second antenna of a second polarization direction; and the target synthetic polarization direction is achieved by the at least one second antenna of the first polarization direction and the at least one second antenna of second polarization direction; or

the movable platform is further provided with at least one first antenna of a third polarization direction and at least one first antenna of a fourth polarization direction, and the first transmission antenna information is configured to indicate the at least one first antenna of the third polarization direction and the at least one first antenna of the fourth polarization direction for transmitting the electromagnetic waves.

15 . The remote control device according to claim 14 , wherein the at least one second antenna of the first polarization direction and the at least one first antenna of the third polarization direction are horizontal polarization antennas, the at least one second antenna of the second polarization direction and the at least one first antenna of the fourth polarization direction are vertical polarization antennas;

each of the initial synthetic polarization direction and the target synthetic polarization direction is one of a plurality of synthetic polarization directions, and the plurality of synthetic polarization directions comprises at least one of +45° linear polarization, −45° linear polarization, right-hand circular polarization or left-hand circular polarization.

16 . The remote control device according to claim 15 , wherein to determine the initial synthetic polarization direction based at least in part on the first transmission antenna information, the at least one processor executes the at least one set of instructions to cause the remote control device to at least:

determine the initial synthetic polarization direction between the +45° linear polarization and the −45° linear polarization when the first transmission antenna information indicates that antennas for transmitting the electromagnetic waves are the at least one first antenna of the third polarization direction or the at least one first antenna of the fourth polarization direction; or

determine the initial synthetic polarization direction between the left-hand circular polarization and the right-hand circular polarization when the first transmission antenna information indicates that antennas for transmitting the electromagnetic waves are the at least one first antenna of the third polarization direction and the at least one first antenna of the fourth polarization direction.

17 . The remote control device according to claim 16 , wherein

to determine the initial synthetic polarization direction between the +45° linear polarization and the −45° linear polarization, the at least one processor executes the at least one set of instructions to cause the remote control device to at least:

obtain a first channel parameter corresponding to the remote control device receiving signals via the +45° linear polarization and a second channel parameter corresponding to the remote control device receiving signals via the −45° linear polarization, wherein the first channel parameter and the second channel parameter indicate a signal quality of signals received by the remote control device, and

determine, based at least in part on the first channel parameter and the second channel parameter, a linear polarization direction of a best signal quality between the +45° linear polarization and the −45° linear polarization as the initial synthetic polarization direction; and

to determine the initial synthetic polarization direction between the left-hand circular polarization and the right-hand circular polarization, the at least one processor executes the at least one set of instructions to cause the remote control device to at least:

obtain a third channel parameter corresponding to the remote control device receiving signals via the left-hand circular polarization and a fourth channel parameter corresponding to the remote control device receiving signals via the right-hand circular polarization, wherein the third channel parameter and the fourth channel parameter indicate a signal quality of signals received by the remote control device, and

determine, based at least in part on the third channel parameter and the fourth channel parameter, a circular polarization direction of a best signal quality between the left-hand circular polarization and the right-hand circular polarization as the initial synthetic polarization direction.

18 . The remote control device according to claim 11 , wherein the attitude change comprises a roll attitude change; and

to determine the target synthetic polarization direction based at least in part on the attitude change of the movable platform and the initial synthetic polarization direction, the at least one processor executes the at least one set of instructions to cause the remote control device to at least:

determine that the target synthetic polarization direction is the initial synthetic polarization direction in response to the roll attitude change of the movable platform does not exceed not exceeding a first preset angle threshold, or

determine that the target synthetic polarization direction is a second linear polarization direction in response to the roll attitude change of the movable platform exceeding the first preset angle threshold and the initial synthetic polarization direction being a first linear polarization direction.

19 . The remote control device according to claim 11 , wherein the attitude change comprises a yaw attitude change; and

to determine the target synthetic polarization direction based at least in part on the attitude change of the movable platform and the initial synthetic polarization direction, the at least one processor executes the at least one set of instructions to cause the remote control device to at least:

determine that the target synthetic polarization direction is the initial synthetic polarization direction in response to the yaw attitude change of the movable platform not exceeding a second preset angle threshold, or

determine, in response to the yaw attitude change of the movable platform exceeding the second preset angle threshold and being less than or equal to a third preset angle threshold, the target synthetic polarization direction based at least in part on any of the following scenarios:

Scenario I: determine that the target synthetic polarization direction is a circular polarization direction in response to the initial synthetic polarization direction being a linear polarization direction,

Scenario II: determine that the target synthetic polarization direction is a linear polarization in response to the initial synthetic polarization direction being a circular polarization, or

determine, in response to the yaw attitude change of the movable platform exceeding the third preset angle threshold, the target synthetic polarization direction based at least in part on any of the following scenarios:

Scenario III: determining that the target synthetic polarization direction is a second linear polarization direction in response to the initial synthetic polarization direction being a first linear polarization direction,

Scenario IV: determining that the target synthetic polarization direction is a second circular polarization direction in response to the initial synthetic polarization direction being a first circular polarization direction.

20 . A system, comprising:

a remote control device;

a movable platform;

at least one non-transitory storage medium storing at least one set of instructions; and

at least one processor in communication with the at least one non-transitory storage medium, wherein during operation, the at least one processor executes the at least one set of instructions to cause the remote control device to at least:

obtain first transmission antenna information of a first antenna of the movable platform, wherein the first transmission antenna information comprises a polarization direction of the first antenna to transmit electromagnetic waves,

determine an initial synthetic polarization direction of a second antenna of the remote control device based at least in part on the first transmission antenna information and an initial attitude of the movable platform,

obtain current attitude data indicative of an attitude change of the movable platform compared to the initial attitude,

determine a target synthetic polarization direction of the second antenna based at least in part on the current attitude data and the initial synthetic polarization direction, and

control the second antenna to receive and/or transmit the electromagnetic waves with the target synthetic polarization direction.

Assignments (1)

Continuity (2)

References Cited (13)