Table 1.
Experimental platform models and parameters.
| Hardware | Parameter |
|---|---|
| Camera | GoPro 1920*1080HD, 117 g |
| Image Transmission Equipment | Frequency range 750 MHz, average delay 300 ms |
| Data Transmission Equipment | The communication distance is 1 km, the highest data transmission rate 3300 B/s, and the average delay 5–10 ms |
| PTZ Controller | Self-made (STM32F103,72 MHz) |
| IMU:MPU6500 | |
| Camera Attitude Measurement Unit | Magnetometer:LSM303D |
| Barometer:MS5611 | |
| Battery Type | LIPO/22.2 V/12000 mAh/30 C |
| Ground Station | Intel XEON E5-2678 V3/RTX2080TI |
| RTK | 10 Hz |
| Wheelbase | 680 mm |
| Motors’ Max. Current | 30 A |
| Brushless Motors | X4110S 340 KV |
| Brushless ECS | 40 A |
| PTZ | 3 axis |
| Autopilot | Self-made( STM32F407,168 MHz) |
| Payload Capability | 5.5 KG |
| Hover Time | 13 min |