The summary is as follows: 7 points: 1) The Raspberry Pi development board is equipped with ubuntu mate, completes the assembly of the UAV, and builds the UAV simulation development environment SITL. 2)VS studio independently designed a secondary development ground station Mission Planner with our school and our team. 3) Use the ground control station to complete the realization of functions such as fixed height, hovering, return, path planning and design. 4) For two-dimensional code recognition, the image technology based on Opencv is adopted to complete the detection and recognition. Combined with our independently designed secondary development ground station, the accurate landing of distribution can be completed under real-time monitoring, with an error of less than 20cm. 5) For binocular vision, use its Visual SLAM technology to complete positioning without GPS and excellent visual functions such as real-time tilt error less than 10 °. 6) Complete the construction and configuration of the 5G platform, combined with the Raspberry pie expansion board to achieve 5G communication, so that the transmission of drones to 5G level. 7) Complete a series of programs related to the transportation of the designed UAV. Chapter 1 Project Overview 1.1 Project Background 1.1.1 IoT Platform The Internet of Things, or IoT, is a network based on information carriers such as the Internet and traditional telecommunications networks, allowing all ordinary objects that can perform independent functions to achieve interconnection. Its application fields mainly include transportation and logistics, industrial manufacturing, health care, intelligent environment (home, office, factory), etc., which has a very broad market prospect. Nowadays, the industrial system of the Internet of things has been basically formed, and a certain market scale has been formed in many fields, and the equipment and services related to the Internet of things are also starting hot. 1.1.2 UAV Domestic civilian drones started in the 1980 s, which is much shorter than the 100-year history of military drones. The UAV market is in the process of steady growth, such as digital urban exploration and mapping, coastal defense surveillance, meteorological detection, disaster prevention and mitigation, anti-smuggling and anti-terrorism and other fields have a wide range of application prospects. For the logistics field, the innovation of drone freight is expected to transform the logistics system. From a technical point of view, the problem of power continuation of UAV logistics is a difficult problem, which can only basically meet the needs of short-distance city distribution. From a foreign perspective, the National Aeronautics and Space Administration (NASA) has newly established a drone application center to conduct various civilian research on drones. It cooperates with the U.S. Oceanic and Atmospheric Administration (NOAA) to use drones for scientific research such as weather forecasting, global warming and glacier melting. At present, Japan has 2346 registered agricultural unmanned helicopters, which is the largest country in the world in agricultural UAV spraying. The T265 used in this project is a foreign product officially launched in 2019, and its application in all aspects of the market is more mature in two years, but it is not common in the field of drones to use it with strawberry pie drones to complete drone-related functions in an indoor GPS-free environment. 1.1.3 Material delivery The development of modern express industry and economic development are inseparable. With the development of science and technology, the scientific and technological content of products has increased. A large number of products of high-tech enterprises are small in size and light in weight, but the value of goods is very high, and it takes up a lot of working capital. Express transportation can send these products to customers as soon as possible, and provide good packaging, warehousing, customs declaration and logistics services to meet the needs of enterprises and realize the greatest possible social division of labor. The era of industrial 4.0, that is, the Internet of Things, has arrived, and intelligent logistics, as its core component, plays an important role in connecting supply and production. Today, large logistics enterprises such as Cainiao, Jingdong, Shunfeng, etc. have begun to build a complete set of intelligent automatic logistics system, intelligent unit logistics technology, automatic logistics equipment, intelligent logistics information and intelligent logistics transportation system gradually improved. Logistics transportation is one of the most important links in the logistics system, and it is also one of the important factors to promote the continuous development of society. Nowadays, ground logistics has been basically improved in first-and second-tier cities, but logistics transportation between some remote areas and islands is still not convenient. UAV logistics, as a scientific and technological product of modern logistics transportation, can quickly and efficiently solve the logistics transportation problems in these areas. 1.2 Project Introduction This project is aimed at the weak aspect of the unmanned aerial vehicle market, namely material distribution. The application scenario can be inconvenient or even unreachable environment, such as the Olympic Games involving the delivery of resources interspersed with competition areas. Another example is some scenes that need to improve work efficiency, such as the distribution of work tools needed by high-altitude operators in electric towers. There are also some high-risk scenes that require machines to replace manual work, material distribution for trapped people or rescue personnel caused by disasters such as earthquakes; Of course, the demand for short-distance intra-city express delivery, including take-out, is also under our consideration. In short, no matter from the perspective of theoretical research or from the perspective of the application market, it has practical application significance. UAV research at home and abroad tend to be military or meteorological applications, and the application scenario we study is the choice of material distribution, which is undoubtedly relatively new, and it is also one of the current market shortages. Our project also belongs to the research of drones in the new era of 5G, which can be said to be just starting at home and abroad, so it is also advanced. Figure 1.1 Drone as a carrier for material transport. 1.3 Product Design 1.3.1 Brand The brand name of the product is: MRT Meaning: to make the delivery of materials more quickly, so that people's lives become more convenient This is the core concept of our team. 1.3.2 Product logo Figure 1.2 Design of UAV Logo Design concept: 1) Intuitively feel the pattern in the middle. It is a UAV effect with four propellers, which symbolizes that our product is a UAV. It is at the top to indicate that it is working in line with the UAV at high altitude. 2) In the picture, there are three words "Jie", "Bou" and "Sheng", while the unmanned aerial vehicle above indicates the Chinese character "Yun", which constitutes our brand name: MRT Bou Sheng. 3) The whole looks like a hand holding our product, as we look forward to concentrating and integrating the drone product into our lives. 4) The global background is blue, symbolizing the blue sky, and the background color of the UAV in the middle is red and orange, symbolizing that the UAV shines into our life like the sun under the blue sky. 1.3.3 Summary of product content The UAV development board uses Raspberry Pi 3B that supports 5G communication, burns related systems and completes system configuration, completes the construction of ordinary UAVs, and realizes various basic flight functions such as fixed-height hovering. Combined with T265 binocular vision camera, complete positioning perception without GPS such as indoor. Combined with monocular two-dimensional code, opencv image technology is used to achieve high precision positioning of unmanned aerial vehicles. Combined with the Raspberry Pi 5G extension to build a good 5G platform, complete the relevant drivers and network configuration, successfully achieve 5G dial-up and Internet access. We have independently developed a ground control station with the requirements of this product and the characteristics of the team, which can realize the path planning of the ground station to the UAV. Build a simulation system development environment to achieve code-controlled flight simulation and so on. build a openstack cloud management platform and a hadoop big data platform, and complete the relevant layout for later cluster development. 1.4 product function introduction 1.4.1 Basic functions of itself The realization of the basic functions needs to be based on the strawberry pie development board, install the open source flight control pix2.4.8 four-axis unmanned aerial vehicle, and use the Ardupilot firmware. 1) Fixed height: When the excitation output distance value is greater than the set height, the UAV will descend, otherwise it will rise, thus maintaining the flight at a constant height, so as to avoid the risk of crash. 2) Hover: As the name suggests. 3) Return: After completing the established mission and receiving the automatic return instruction or losing the control signal, the UAV will automatically return to the top of the return point and complete the automatic landing function through its own vision system or GPS records. 4) Landing: As the name suggests, but not the precise landing in the extended function, so the error is much larger. 5) Circle: Circle Mode, in the task, use the task command LOITER_TURNS to call the circle mode. The radius of the turns can be controlled by modifying the CIRCLE_RADIUS parameters. in meters. Set the CIRCLE_RADIUS to zero, and the aircraft will simply stay in place and rotate slowly (for panoramic photography). 6) Headless mode: During the flight of the aircraft, the geographic coordinate system is used as the reference coordinate system for the movement of the aircraft. It is more convenient to operate in headless mode than changing the direction of the nose during flight. 7) waypoint flight: combined with our own design of the ground station, no remote control to achieve an autonomous flight mission, can also be called path planning. 1.4.2 Self-expansion function 1)Ardupilot-SITL simulation flight: After installing the development environment in advance, and then starting the simulation from the command line, you can see three windows: Terminal, Console, and Map. The simulation process is the process of simulating the actual flight, reducing the development time. SThe ITL can also be co-simulated with Mission Planner. 2)Dronekit-python programming to control the flight: how to control the flight, how to write the corresponding code, the following example, first connect to the unmanned aerial vehicle, then control the unmanned aerial vehicle to unlock and lift to 10m, then fly in two directions for 30s in turn, and finally return to the starting point and land. Then the following key code is required in the. py file: # The simple_takeoff will send instructions to make the unmanned aerial vehicle take off and rise to the target altitude vehicle.simple_takeoff(aTargetAltitude) # Call the declared arm_and_takeoff function, the target altitude is 10m ;arm_and_takeoff(10) # Delay 30s to let the UAV fly towards point1 for 30s, but this is not the flight code time.sleep(30);# Return home, just switch the flight mode of the drone to "RTL(Return to Launch)" ;vehicle.mode = VehicleMode ("RTL") 3) Positioning in GPS-free environment: Due to the T265, indoor hovering and other functions can be realized, because the T265 itself has its own IMU, which can obtain the known height and speed information of the coordinates of the fuselage in three-dimensional space in real time, and release the data it obtains to the flight controller of pix. Flight control can also enter loiter mode based on this information and stay. 4) Guide precision landing: Different from the landing technology in which the ground station sends the precise position of the coordinate system to the UAV, this refers to the use of image recognition technology to identify the ground target landing point using the UAV airborne image recognition equipment to obtain the relative position of the target landing point and the UAV. 5) Achieve distance-free flight control and video transmission under 4G path planning. 1.4.3 Combined function 1) Combine with big data platform Figure 1.3 Large data processing framework of UAV 2) Combined with image technology 3) Combine with cloud platform Figure 1.4 UAV cloud platform framework 1.4.4 Self-follow-up functions Subsequent functions are as follows: 1) LiDAR obstacle avoidance 2) Detection and tracking 3)Fastplanner mapping and rapid planning 1.5 Product Features 1) Whether for users or businesses, all hope that the timeliness of logistics and distribution is higher, the drone uses 5G-capable airborne computer Raspberry Pi 3B development board, assembled on 5G module SIM820X-M2 5G HAT, to meet the purpose of the new generation of communication era. 2) Develop a characteristic ground station. The information such as inclination and height of the UAV can be obtained from the ground station MP designed by us, so as to carry out effective management and planning. With the open source feature of its second development, the designed interface has its own characteristics of our school and R & D team, and its flight path planning and 4G distance-free transmission and other related functions are also independently designed and completed by us. 3) This project relies on two-dimensional code as a beacon, so as to achieve unique identification, to achieve the purpose of detection and tracking positioning, is expected to expand the scenario under multiple two-dimensional code. Compared to the single image recognition technology on the market, we combine real-time monitoring and tracking. Technically, it strives to achieve error-free identification and precise landing. 4) This machine is equipped with Intel's camera T265, which borrows V-SLAM algorithms to complete navigation planning and other functions. This binocular recognition camera will be officially launched in 2019. It is not widely used in unmanned aerial vehicles. We assemble it in combination with our set of modules. Technically, we not only complete outdoor flight, but also achieve navigation and positioning when there is no GPS signal indoors. Figure 1.5 Product Features Composition List 1.6 project to achieve objectives 1) The Raspberry Pi development board is equipped with ubuntu mate, completes the assembly of the UAV, and builds the UAV simulation development environment SITL. 2)VS studio independently designed a secondary development ground station Mission Planner with our school and our team. 3) Use the ground control station to complete the realization of functions such as fixed height, hovering, return, path planning and design. 4) For two-dimensional code recognition, the image technology based on Opencv is adopted to complete the detection and recognition. Combined with our independently designed secondary development ground station, the accurate landing of distribution can be completed under real-time monitoring, with an error of less than 20cm. 5) For binocular vision, use its Visual SLAM technology to complete positioning without GPS and excellent visual functions such as real-time tilt error less than 10 °. 6) Complete the construction and configuration of the 5G platform, combined with the Raspberry pie expansion board to achieve 5G communication, so that the transmission of drones to 5G level. 7) Complete a series of programs related to the transportation of the designed UAV. 1.7 product use requirements 1) Number of Users Requirements: There is no limit on the number of users used by unmanned aerial vehicles for logistics distribution for the time being, and the number of users will not be determined if it is developed in the future. 2) Concurrent business requirements: The main task of this project is to use drones to achieve logistics and distribution. In order to meet some of the needs of users and merchants, making it more time-sensitive, intelligent and automated, this project uses the Raspberry Pi 3B and 4B development boards that support 5G modules and the 5G expansion board module group to achieve high efficiency. At the same time, the UAV in the air also needs to achieve aerial photography, monitoring, cruise and a key return and other functions. 3) Time requirements: Under normal circumstances, the drone can be controlled to fly in the sky for about 15 minutes, and in extreme cases (under full load) it can support flying in the sky for about 10 minutes. 4) Fault tolerance requirements: in the case of 5G signal, it can be connected to the drone strawberry pie through 5G, and when there is no 5G signal, it is automatically adjusted to be connected through 4G, and if there is no 4G signal, it is connected through 3G, ensuring intelligence. 5) Frequency of use requirements: If the logistics distribution through drones is done well, the frequency of future use will be very high, and it will become a daily item for people. Chapter 2 Product Hardware Design 2.1 product innovation 1) Due to the use of support raspberry pie combined with 5G extended version of the module, this aspect has not been publicly developed two modules of the combination of products. When the 5G signal is insufficient, the unmanned aerial vehicle can be cut to 4G while flying. Similarly, it can be automatically cut to 3G according to requirements during operation. 2) The UAV combined with the real sense camera T265 can complete positioning in the absence of GPS indoor conditions, thus expanding the application scenarios and market demand. 3) In this project, the two-dimensional code pattern is used as the identification mark of the transportation location, which accurately simulates the complexity and diversity of the positioning point. 4) In the later period, laser radar will be used for obstacle avoidance. In order to achieve the purpose of obstacle avoidance, RPLIDAR A 3 360 laser scanning ranging radar based on strawberry pie 4B and matched with Silan technology will be considered. It can scan the measurement distance of 360 and 25 m radius, and can be suitable for map construction, SLAM and 3D model construction in the later period. 5) Combined with the depth camera to achieve tracking, to achieve single-purpose indoor and outdoor circular tracking. Introduction to 2.2 Hardware Key Roles 2.2.1 Pixhawk 2.4.8 Flight Control Pixhawk is a hardware self-driving instrument, that is, the flight control board. In the past, there were two flight control projects, one was PX4 and the other was APM. Later, they cooperated to produce pixhawk, the highest specification hardware at present. Both PX4 code and APM code can be burned to the Pixhawk to run. In short, Pixhawk is a piece of hardware, PX4 and APM are the firmware running on it. The firmware for this item is APM(Ardupilot). Pixhawk is an open source, designed to provide a standard available, high quality, low cost flight controller design platform. The flight control used in this project is Pixhawk2.4.8. By building the UAV and Pixhawk the assembly of the flight control and UAV, the hardware installation of the UAV is completed, and debugging can be started after the program is downloaded. Figure 2.1 Pix4 flight control original kit 2.2.2 Airborne Computer Raspberry Pi 3B The system uses Raspberry Pi 3B and 4B as the main controller, and can realize the external control of the UAV through the Dronekit python library programming. Strawberry Pi has installed ubuntu mate system, and has installed Dronkit,ROS,mavros, Silan A1 driver, Google Cartographer, etc. 2.2.3 Binocular camera T265 This machine is equipped with Intel T265 binocular camera, inIndoor no GPS signal, instead of GPS navigation and positioning. After binocular positioning, if there is enough indoor space, hover flight, one-key return, out-of-control return, waypoint flight, dronekit programming control flight and other operations that could only be carried out after outdoor GPS positioning can be carried out before. So as to lay the foundation for future indoor testing of more complex obstacle avoidance, navigation planning and other projects. Fig. 2.2 T265 Binocular Positioning Camera Figure 2.3 T265 Indoor Positioning Mapping 2.2.4 Raspberry Pi 5G/4G/3G Expansion Boards This product is a strawberry communication expansion module supporting 5G/4G/3G. The core 5G module adopts SIMCom SIM8200EA-M2 and supports 5G NSA and SA networking. The network speed is as high as 4Gbps downlink and 500Mbps uplink. The backplane onboard M2 package standard interface can be compatible with a variety of 4G or 5G M2 package communication modules, onboard USB3.1, audio, SIM card slot and other resource interfaces, complete configuration scripts and use development data, which can be conveniently and quickly connected to strawberry pie and computers for 5G high-speed Internet access, which can not only quickly learn and evaluate 5G modules, but also quickly integrate into various application scenarios requiring 5G communication. Supporting SIM8200EA-M2 for China, Europe, the Middle East, South America and other multi-mode multi-band, Qualcomm Xiaolong X55, onboard USB3.1 interface, dial-up Internet access, cloud platform communication, telephone SMS, GNSS positioning. 2.3 Device List 2.3.1 UAV platform building device 1) Frame: 410 frame, 1 set (including tripod), appearance size: 322*316 * 197mm 410 wheelbase; Material: pure carbon fiber frame, number of shafts: 4 axes; Add 3mm thick circuit substrate, high strength, high toughness, drop resistance and explosion resistance; Weight and endurance: 1.4KG/15min; Maximum takeoff weight/endurance: 2KG/10min; Power: 3S/14.1VLipo with XT60 connector; Flight speed: the fastest 20 m/s, 1-2 m/s in autonomous flight 2) Flight control: version is Pixhawk2.4.8,1 set, weight of 1 set: 52g; Including Pixhawk 2.4.8 master control; Flight control shell; Safety switch; Buzzer; 6pin to 6pin line; 4pin to 4pin line; 3pin Dupont Line; SD card x1 A. processor: 32-bit 2 megabyte flash STM32F427 Cortex M4 with hardware floating-point processing unit; Main frequency: 168MHZ,256K RAM ;32-bit STM32F103 backup coprocessor B. Sensors: 1.L3GD203-axis digital 16-bit gyroscope; LSM303D 3-axis 14-bit accelerometer/magnetometer; MPU60006-axis accelerometer/magnetometer; MS5611 high-precision barometer C. interface: 5 UARTs, 1 compatible with high voltage, 2 with hardware flow control; 2 CAN;Spektrum DSM/DSM2/DSM-X satellite receiver compatible input; Futaba SBUS compatible input and output; PPM signal input; RSSI(PWM or voltage) input, etc. 3) Airborne computer: Raspberry Pi 3B (including memory card) 4)GPS:SE100,1; Hover accuracy: 1.5m vertically and 1.0m horizontally 5) Propellers: 10 inches, 2 pairs, 1 pair in forward and reverse directions when installed 6) Data transmission: 500mw data transmission, 1 pair 7) Remote control (including receiver): Fuss I6,1 set 8) Remote control battery: No. 5 battery, 4 9) Ni-MH battery charger: Deli spectrum charger, 1 10) Power battery: 5200mAH/3S,1 piece 11) Balance charger: A400,1 set 12) Low voltage alarm: BB ring, 1 13)T-motor 2216 motors: 4 (including banana head and heat shrinkable tube), with low center of gravity design and good dynamic balance performance 14) ESC: 4 15) Installed accessories: 1 XT60 power cord, 2 JST male cords, several nylon cable ties, 2 3M glue, 2 hook and loop, 1 battery cable tie, and hexagonal socket tool (one for 1.5, one for 2.0 and one for 2.5) 16) Test accessories: multiple screwdriver, safety rope 2.3.2 5G UAV platform building device The operating system of the Raspberry Pi 5G platform is Windows/Linux/Android. To build the platform, you need to add 5G module devices based on the Raspberry Pi: 1)SIMXXXX-M2 core board 2)SIMXXXX-M2 4G/5G HAT backplane 3) Black nylon column M3 * 45 6 4)4010 cooling fan 5) High gain antenna: 6 * IPEX-4 interface; For 3G/4G/5G/GNSS; Supply voltage: 5V/3A 6)SIM card: 1.8V/3.0V 7) Acrylic shell 8) black acrylic base plate 9)2 * 20PIN long row seat 2.3.3 Other key devices 1) Monocular camera, used to identify two-dimensional code and guide precise landing, model: USB monocular camera; Focal length: 3.6mm; Field of view: 90 °; Pixel: 2 million; Maximum resolution: 1920*1080 2)T265 binocular camera, used for indoor fixed-point positioning; Chip: Movidius Myraid2; Field of view: two fisheye lenses; IMU:BMI055 inertial measurement unit allows accurate measurement of rotation and acceleration of equipment Thanks to the proprietary Visual Inertial Ranging Simultaneous Localization and Mapping (v-slam) technology, the solution can be used for applications requiring precise, low-latency tracking, such as robotics, drones, virtual reality and augmented reality. The Intel RealSense tracking camera t265 is powered by the movidius myriad 2 vpu. It provides 6 degrees of freedom (6dof) inside-out tracking by collecting input from two on-board fisheye cameras. Each camera has a range view of approximately 170 degrees. 3) Auxiliary display for operating and observing the file display of the Raspberry Pi system 4)HDMI cable. If the PC does not have an HDMI interface, it needs to be combined with an auxiliary display, keyboard and mouse to operate the strawberry pie board. 2.3.4 Subsequent Function Development Device 1) Lidar: Silan S1, used for obstacle avoidance, laser ranging technology: TOF; Measurement radius <= 40m; Sampling speed> = 1cm; Scanning frequency: 10HZ 2) Depth camera: Intel D435i, used for tracking, depth technology: active infrared stereo; depth six output resolution: up to 1280*720; depth stream output frame rate: up to 90fps; minimum depth distance: 0.1m 2.4 erection and assembly steps 2.4.1 UAV welding assembly steps Step 1: Solder the bottom plate. Solder the 4 ESC, XT60 power cables, and 2 JST male wires on the bottom plate as shown in the figure. The second step: the motor banana head welding and put on the heat shrinkable tube Step 3: 1. Fix the motor on the arm. Step 4: Connect the motor to the ESC. Insert the banana heads welded by the motor into the 3 banana heads of the ESC respectively. Step 5: The binocular camera is horizontally installed in front of the unmanned aerial vehicle and inserted into the Raspberry Pi USB port to get power. The M8nGPS module is connected to the gps and I2C ports of the flight control. One end of the data transmission module is connected to the flight control Telem2 port and the other end is connected to the receiver. Step 6: Paste the shock-absorbing plates together with 3M glue for the flight control connected to the line. The flight control is facing upward, and the front is consistent with the navigation direction of the unmanned aerial vehicle. The 5G strawberry pie is placed on the side directly below the strawberry pie, and the battery is installed on the other side. At this point, the assembly is completed. Figure 2.4 Autonomous UAV 2.4.2 Steps to Build 5g Raspberry Pi Platform Step 1: Connect the strawberry pie to the black acrylic base plate Step 2: Install the SIMXXXX-M2 core board into the SIMXXXX-M2 4G/5G HAT backplane Step 3: Install the SIMXXXX-M2 4G/5G HAT base plate into the strawberry pie Step 4: Put the black nylon column M3 * 45 6 into the black acrylic base plate Step 5: Install the 410 cooling fan and antenna adapter into the black acrylic cover plate Step 6: Install the antenna adapter into the SIMXXXX-M2 core board, and connect the fan power cord to the SIMXXXX-M2 4G/5G HAT backplane Step 7: Assemble the black acrylic cover and fix it with screws Step 8: Install the high gain antenna to complete the assembly Figure 2.5 Self-built Raspberry Pi 5G Platform Chapter III Product Software Design 3.1 technology innovation 1) For two-dimensional code recognition, open-basedcv's image technology completes detection and identification, and combined with our independently designed secondary development ground station, the accurate landing of distribution can be completed under real-time monitoring. 2) For binocular vision, use its Visual SLAM technology to complete excellent visual functions such as providing real-time tilt, and realize positioning without GPS such as reducing the positioning error range several times. 3) Burn the ubuntu system on the Raspberry Pi development board, build a development and simulation environment, and realize the simulation of py code control flight and actual flight operation. 4) Combine the Raspberry Pi expansion board to achieve 5G communication, so that the transmission of the drone reaches the 5G level, and configure and complete the network dial-up under the command line. 5) Deep integration with image recognition technology, the use of video streams to achieve a variety of specific scene applications, such as vehicle detection, which expands the adaptability of the complexity of the physical environment. 6) Post-implementation Fastplanner, that is, to complete the rapid planning based on camera positioning. 3.2 Open Source Ground Control Station 3.2.1 Mission Planner As an excellent open source ground station, it is widely used in scientific research, surveying and mapping applications. MAVLINK, as its core communication protocol, has been applied to various platforms of UAVs. Familiar with MAVLINK protocol is the basis of ground station control, remote control, cluster control of UAV. 3.2.2 Ground Station Software Design 3.1 Ground station software design framework 3.2.3 Independent development of ground station Figure 3.2 UAV ground station development interface Fig. 3.3 Ground Station of Independent Design 3.3 simulation development environment Since there is no innovation in building a simulation development environment, the full text is only briefly described here. In fact, it is the best auxiliary tool for later code control flight. The simulation system needs to be built in a notebook virtual machine. Since this chapter describes design rather than operation, the following only describes the disk allocation scheme when building the simulation environment: I allocate a total of 100g, first allocate "swap", the size is equivalent to the memory, is the running memory, for example, set 5g, then allocate "boot/efi", the size is 200m, finally, you can allocate "/" and "/home" to ext4. The size ratio between "/" and "/home" is usually 1:10 to 3:10, depending on your needs. Can be 20g and 70g, the size of the input code is different, need to be divided according to the proportion, you have to calculate, first divide the four intervals according to the size, and then set the mount point/file system of the interval. Figure 3.4 SITL simulation flight on virtual machine Figure 3.5 SITL simulation flight on virtual machine 3.4 OpenCV recognition technology Opencv-based ellipse and two-dimensional code recognition and tracking: the monocular camera is installed directly below the unmanned aerial vehicle, and the two-dimensional code is detected and landed through Opencv image recognition; The pattern source code of the two-dimensional code can be made to locate any two-dimensional code. OpenCV image processing operations: get image information (channel, size, etc.), image inversion (using loop, using numpy), camera call. 3.5 VIO technology VIO is a computer vision technique used to estimate the speed and 3D position (local position and pose) of moving objects. It is often used for navigation in situations where GPS signals are missing or unreliable (e. g., indoors or flying under a bridge). VIO uses visual odometry (Visual Odometry) to estimate the position of the device from the camera's images and inertial measurements combined with the device's IMU. The T265 itself is equipped with IMU, which can obtain the coordinate height and speed information of the fuselage in three-dimensional space in real time. VIO information is transmitted to the px4 flight controller through ROS, and the flight control can enter the position mode (fixed point) according to this information. The pre-operation is to install the following components in the strawberry pie: T265 driver and corresponding ROS driver, ROS system, MAVROS package, strawberry pie has been linked with flight control hardware through usb or serial port. 3.6 other software or firmware parts 3.6.1 MAVLink Agreement MAVLink is a communication protocol designed for unmanned aerial vehicles, which can realize reliable communication of multi-machine and multi-control terminal by packaging data. By using the MAVLink protocol, stable communication can be achieved between the UAV and the ground station and the airborne calculator. QGC ground station software is used in the subject to transmit data in a MAVLink protocol mode through the data transmission module, so as to realize the communication between the ground station and the flight control. 3.6.2 Code Base Dronekit-Python DroneKit-Python is a Python library for controlling drones. The DroneKit provides an API for controlling the UAV. Its code is independent of the flight control, runs separately on the onboard computer (Companion Computer) or other equipment, and communicates with the flight control board via serial port or wireless MAVLink protocol. Later development requires proficiency in this part. 3.6.3 Openstack Platform The platform is a cloud management platform, which is envisaged to be used for data supervision and management after the UAV cluster is built in the later stage. Although it took more than a week to build the platform, it is limited to space, so only the key steps to build it are listed below: 1) Virtual machine network configuration: Open Oracle VM VirtualBox Manager, click Management at the top left, and enter the host network manager instead of global settings. 2)Fule-master installation and configuration: Create a new virtual computer and select Red Hat 64-bit for the operating system version. The settings include selecting the downloaded image file MirantisOpenStack-9.0. Start the Fuel Master and select the Fuel Install (Static IP) to install it. 3)xshell software operation: click the tunnel menu in the menu bar on the left to configure the tunnel content, and then you can open the address https:// 10.20.0.2:8443 in the browser. 4) Install and configure the OpenStack environment: the browser enters the address https:// 10.20.0.2:8443 to enter the web login, create a new OpenStack environment and set it up, and then add local sources, etc. xftp software is required during this period. 5) Create new Controller and Compute virtual machine nodes 6) Deployment and configuration of each node at the web control end: enter the newly-built Test environment, add nodes, complete the OpenStack network configuration, select "Connectivity Check" and click Verify Network, and finally deploy the openstack Figure 3.6 Built Openstack Cloud Platform Interface Chapter IV Other Product Description 4.1 supporting services 4.4.1 Pre-sales services Pre-sales service personnel should provide smiling service and experiential service. Under the careful and patient guidance and company of the shopping guide, buyers can experience some basic functions of the product in a certain time and space. After fully introducing each module, the shopping guide should not only elaborate on the future development prospect of the product, but also inform the buyer of the current short board of the product, and can choose whether to buy it or not. 4.4.2 After-sales service In the case of non-human collision damage, there is a one-year warranty after sale. For individuals or distributors, the company provides partial free and partial fee repair services during the warranty period. At the same time, we will send professionals to carry out daily maintenance and repair of the equipment, and share the corresponding costs with the customer. 4.4.3 Equipment protection Make the UAV flight in a non-rain, non-wind environment, to avoid equipment damage. The equipment shall be protected from being damaged by other external forces during use. 4.4.4 Equipment inspection After the successful purchase of series products, we will check regularly Check whether the screws are loose to prevent accidents due to unstable important parts Check whether the video transmission is jitter, that is, to ensure the stability of the camera fixed Check whether the intelligent system can accurately alarm errors to provide users with debugging and fault detection Check whether the working environment and use of the battery are normal Check whether the controller, sensor and collector are sensitive to ensure good working condition Table 4.1 Equipment Inspection Scheme 4.4.5 Daily maintenance plan The specific regional responsibility and labor volume will be based on the district.The characteristics of the domain are adjusted and designed. Maintenance Contents Screw Sensor Control Battery Body Software Maintenance Mode Manual Manual Test Flight Test Manual Visual Test Professional Test Manual Visual Test Software Debugging The maintenance cycle is one month, one month, one month, one half year, and one month. Table 4.2 Daily Maintenance Schedule 4.2 Product Problems and Improvements 1) The UAV consumes a lot of electricity. Even if it flies without a propeller, we have tested that it can only last for more than ten minutes. In actual testing, it is often necessary to return to the laboratory to replenish electricity after flying on the site for a while, thus indirectly increasing the development time greatly. 2) Since our purpose is to transport goods, the required load weight is a big problem. Our models are limited. After we added 5G modules, we almost reached the load limit. The solution in this regard is to re-purchase a larger rack, such as a P450 rack. 3) If it is a single unmanned aerial vehicle management, then the deployment of cloud platform openstack is of little significance; If unmanned aerial vehicle clusters are used in the later period, our desktop computers have the problem of not being able to run virtual machines, and the memory problem is difficult to solve, so a computer room should be needed to deal with it. Chapter IV Troubleshooting 4.3 Products 4.3.1 Pix Flight Control Instructions According to our tests, there is Bad Compass Health, and GPS has a signal, but there is a problem with the compass, so there are several possibilities for this situation: 1) The voltage supply is insufficient, so we need to check our voltage supply with a multimeter at this time. 2) See if the compass is calibrated. If it is not calibrated, it will have to be calibrated again. 3) If it is calibrated, what about the external compass or the internal compass? If you use an external compass, you need to unplug the jumper. The jumper is on the motherboard. 4) Wiring problems, to see if there is a wrong connection or reverse connection of the wire, be sure to pay attention to the power cord, if it is connected reverse to the ground wire, it will burn, Cause the compass can not be used; also to see if there is a poor contact phenomenon, which will also lead to our compass can not be used 5) If the external compass does not work, we can choose the built-in compass, because pixhawk bring a double compass. 6) If the ground station software is MP, we 'd better load the firmware 3.2 the RC10 beta version, because the 3.3 firmware is unstable and belongs to the development version, and there are still many bugs. 4.3.2 Pix Indicator Description 1) Red light and blue light flash: during initialization, please wait a moment; gyroscope initialization. 2) Yellow light double flash: error, system refuses to unlock; check failed before unlocking. 3) Blue light flashing: locked, GPS search, automatic navigation, hovering, and return to the starting point mode need GPS locking; Locked, not sent The GPS is locked. 4) Green light flash: locked, GPS lock has been obtained. Prepare to unlock; when unlocking from the locked state, there will be a quick two-time sound prompt. Lock, get GPS lock (lock will also be accompanied by fast double ring). 5) Long green light plus single long sound: GPS locked and unlocked; Prepare for takeoff! Unlock and gain GPS lock (there will be a long sound when unlocking). 6) Blue light is always on: unlock without GPS lock. 7) Yellow light flashing: remote control fault protection is activated; radio fault protection is activated. 8) Yellow light flashing plus fast repeat sound: Battery failure protection is activated. 9) Yellow light and blue light flash high-high-high-low: GPS data is abnormal or GPS fault protection is activated. 4.4 product development and debugging 4.4.1 Yunzhuo Ground Control Station During the test flight of the assembled unmanned aerial vehicle, there was a phenomenon of high drop and sinking (when the throttle remained unchanged). The voltage, current, throttle input, output, height and vibration were checked from the flight log. If no problem was found, it should be that the mode was not matched properly. The solution is to configure the software in the settings and complete the configuration related to the fixed height. In addition to controlling the flight, many other problems must also be set up on the ground station, but the specific problems are analyzed in detail. 4.4.2 Cloud Platform Processing Command line operations are essential when building. If the command line fails to open the file, you can modify the file permissions or other solutions after opening the file with xftp to find the corresponding location. There is also a more convenient way to directly right-click the text to edit the information. I then use the command line to view the configuration information and find that it is exactly the same as text editing. Note: accidentally delete/etc/sysconfig/network-scripts/ifcfg-eth1 (need to view UUID through this file), need to view the UUID of the network card, enter the following commands respectively, and wait for the program to respond to each step of the command # yum provides "*/nmcli” # yum -y install NetworkManager #systemctl start NetworkManager #nmcli con When shutting down, I first shut down the compute computing node and found that I could log in to the openstack fuel and enter the openstack dashboard. After the controller node is closed, you can log in to the openstack fuel, but you cannot enter the openstack dashboard. 4.4.3 Burning Problems After burning the system, the original dozens of GTF cards may become tens of MB. In fact, this display phenomenon is normal, because the TF card of the burned strawberry pie system will be divided into two partitions: a boot partition of FAT32 and one or more Linux primary partitions of Ext4. This problem occurs due to the Windows of intelligent identification of Fat32 partitions. 4.4.4 Raspberry Pi Display Operation Raspberry Pi boot connection is divided into screen operation, no screen wired remote and no screen wireless remote. Screen operation also includes computers with HDMI interface and display screens connected with HDMI. We mainly adopt the latter for development. During this period, we encountered many problems. For example, when strawberry pie connects to numerical control, we can realize that strawberry pie and notebook virtual machine uantu system are under the same mobile phone hot spot LAN, because when strawberry pie connects to numerical control, even if it connects to the mobile phone hot spot, it will conflict and drop the line; for example, when the display screen is turned on for debugging, the display screen should be displayed normally before the strawberry pie UAV is started. Chapter 5 Market and Competitive Analysis 5.1 market opportunities 5.1.1 UAV Policy Support From a policy perspective, the state has successively issued the "Decision on Accelerating the Cultivation and Development of Strategic Emerging Industries", "Civil Aviation Industry Medium and Long-term Development Plan (2013-2020)", "Opinions on Deepening my country's Low-altitude Airspace Management Reform", etc. Policies include the aviation industry in the key direction of the development of national strategic emerging industries, open low-altitude airspace in an orderly manner, and guide and support the aviation equipment manufacturing industry and related industries to become bigger and stronger. In 2016, the State Council issued the "Thirteenth Five-Year" National Strategic Emerging Industry Development Plan, which clearly stated that drones should be one of the development priorities; in 2017, the Ministry of Industry and Information Technology issued the "Regarding the Promotion and Standardization of Civil Drones" Guiding Opinions on the Development of the Manufacturing Industry "clearly stated that by 2020, the civil drone industry will continue to develop rapidly, with an output value of 60 billion yuan, and an average annual growth rate of more than 40%. By 2025, the output value of civilian drones will reach 180 billion billion yuan, with an average annual growth rate of more than 25%; in 2019, the Ministry of Education will include drone-related majors in the Professional Catalog of Secondary Vocational Schools to provide for the development of the drone industry Sufficient talent reserves. Under the guidance of the national strategy, local governments have also issued relevant development plans to actively support the development of the UAV industry. The national policy guidance and the pragmatic promotion of local governments are vigorously promoting the development of China's UAV industry and giving birth to huge economic benefits. 5.1.2 Advantages of Logistics Industry In 2020, the macro economy is facing unprecedented severe challenges. As the pioneer of economic development, logistics actively implements the concept of high-quality development, deepens the supply-side structural reform, and the logistics operation rebounded against the trend throughout the year, and the logistics scale reached a new level., The total revenue of the logistics industry has maintained growth, the logistics operation has improved quality and efficiency, and the unit cost has slowed down and stabilized, providing strong support for fighting the epidemic, ensuring people's livelihood, and promoting economic development. In May 2020, the Development and Reform Commission and the Ministry of Transport issued the Implementation Opinions on Further Reducing Logistics Costs, and the central and local governments increased financial support for the construction of logistics facilities such as special railway lines and multimodal transport stations, studied and formulated design specifications for the entry of special railway lines into ports, and promoted the entry of special railway lines into ports, large industrial and mining enterprises and logistics hubs. We will continue to promote the Yangtze River waterway improvement project and the construction of a comprehensive transfer system for the Three Gorges Dam.Step to enhance the Yangtze River and other inland river shipping capacity. Accelerate the promotion of long-distance transportation of bulk goods "revolution to iron", "revolution to water". 5.2 market size Industrial UAV refers to an unmanned aerial vehicle that replaces the original tool as an efficient and convenient auxiliary means to serve the daily work of all walks of life. In 2019, China's industrial drone market size exceeded 5.8 billion yuan. In the future, the growth rate of the industrial UAV industry will remain at a high level, and the industry scale will exceed 8.9 billion billion yuan by 2021. For China's civil UAV market, the overall scale is expected to grow from 2.4 billion yuan to 36.1 billion yuan in 2015-2020, with a compound annual growth rate of 72%. It is expected that the market scale of civil UAV will reach 37.1 billion yuan in 2021. The outbreak of the consumer-grade drone market has made the influence of drones continue to increase. Industries such as power and agriculture have successively studied the possibility of drone applications in their respective industries, driving the growth rate of the industrial-grade drone market to accelerate. Figure 5.1 China's civil drone market size, 2015-2020 (in billion yuan) According to the data compiled by the Forward-looking Industry Research Institute, we have drawn the market size of civilian drones, as shown in the above statistical chart. 5.3 market structure Figure 5.2 Application structure of drone shipments in 2020 (in%) Based on the data compiled by the Forward-Looking Industry Research Institute, we have mapped the structure of the application area of drone shipments, as shown in the pie chart. According to the application field of UAV shipments, in 2020, the largest number of UAV shipments will be used in the field of engineering monitoring, reaching 209800 units, accounting for about 40%. The second is applied to the fields of fire monitoring and insurance and announcement safety. This chart reflects that the logistics field for which our products are facing is scarce. 5.4 market planning 1) Promotion and publicity stage: At this stage, our main work is to fully construct and improve the experimental platform on the one hand, and to collect a large amount of project information (including self-media, text information, Company website) and some "UAV" projects that urgently need to attract investment to develop their own "UAV" projects to prepare for the next stage of information services. 2) Service development stage: through a large amount of information collected in the early stage, such a platform is established in the form of website as the main part, telephone, television, magazine and other media publicity platforms as the auxiliary part, so as to provide a platform for both investors to connect funds and products smoothly. It can also provide some publicity and investment promotion for some "UAV" projects in the form of trade fairs, from which we charge certain intermediary and activity fees, to complete the profit. 3) Expand the development stage: After the information interaction work is fully improved, we can also provide more complete service methods such as personal experience flight test to provide investors with services, so that more businesses and more attention will be paid to the "material transportation". "Drones" have a deeper understanding, and further promote the development of this industry. 5.5 market positioning 5.5.1 Target customers 1) Logistics Company: In the future, it is expected to realize large-scale cluster drone transportation, which will become a new way of transporting goods, so we plan to gradually cooperate with the same city logistics companies in the market, and even develop to short-distance islands. 2) Colleges and universities: on the one hand, provide services to researchers to carry out cooperative research, on the other hand, establish open source communities and special competition communities for individual college students 3) High-risk industries: for example, the distribution of work tools needed by high-altitude workers in electric towers, and the distribution of materials for trapped people or rescue personnel caused by disasters such as earthquakes. The work in many scenarios is dangerous, and drones are obviously more humanist instead of humans. 4) Special activities: For example, multiple competitions are held at the same time in the Olympic venue. If the delivery of materials may affect the competition, the use of unmanned aerial vehicles to achieve air transportation is to use the space resources in the air to provide more convenient services. 5.5.2 Market Development Plan Overall market positioning: the company adopts the marketing concept of "based on Yubei District, facing Chongqing and going to China", gradually forms a product sales network pattern, and establishes strategic cooperative relations with major material transportation companies in China. 1) Pre-company: for Chongqing Lankong UAV Technology Co., Ltd., Chongqing Huakol UAV Technology Co., Ltd., Chongqing Fengniao UAV Technology Co., Ltd., all three of them belong to Chongqing and are the main city of Yubei District UAV company. 2) In the medium term of the company: With the improvement of product awareness, the company will promote the application of several other drone companies in Chongqing. 3) The company's later stage: Based on the technology held, it began to promote molding equipment with market prospects, and enriched the company's product portfolio with abundant expanded software and hardware, bringing more stable and lucrative profits to the company's shareholders. 5.6 competition analysis With the improvement of the application value of drones and the continuous innovation of drone technology, there are now drone products in the market for different fields, such as immersive aerial photography experience, air traffic management and safety monitoring in the field of photography. Because this product is mainly used for material distribution, and today's UAV market is not popular delivery, so it has a considerable civil prospects. The development board used in this product is a strawberry pie, which is a popular one developed by smart cars, drones and unmanned ships on the market. In addition, this work, as the development of small unmanned aerial vehicles, the innovative combination of modules, the open source of DroneKit-Python code and the characteristics of the secondary development of ground station software, also has research significance for researchers in colleges and universities. For benefits, the market is even more impressive in the 5G new era because of its combination of 5G communication modules. Chapter 6 Operation Strategy 6.1 order production Figure 6.1 Order Production Plan 6.2 Channel Strategy The company's early target customer base is basically determined, basically based on drone companies, logistics companies, and colleges and universities as a supplement. Figure 6.2 Marketing Channels 1) Retail mode: in this respect, for scientific research personnel in colleges and universities, the company selects salesmen with strong knowledge of product technology and business ability to negotiate with teachers or college leaders in major colleges and universities across the country to find, answer and solve problems raised by customers in a timely manner, at the same time understand customers' evaluation of the company's products, constantly collect information, feedback information, and formulate reasonable marketing strategies, provide customers with better products and services. 2) Agents: For small and medium-sized logistics companies and machine enterprises with relatively discrete geographical distribution, the company will use agents to develop this market in order to save money. By considering the agent's financial and management level, professional knowledge, reputation and other factors, select the right agent. 6.3 Promotion Strategy 1) Advertising and publicity: use the annual meeting of information development, major expositions and university exchange seminars to carry out online publicity and magazines to publicize the performance, parameters and services of the company's products, and timely determine the intention of cooperation. at the same time, establish and maintain good relations with the government and local enterprises in order to better collect and understand the market dynamics. 2) Establish a reputation: Before purchasing, select some users for free user experience; in terms of use quality, in order to ensure the stability and continuity of supply, the company will send relevant personnel to coordinate and supervise the quality management of the manufacturer to improve The quality credibility of the company's products and establish the company's brand. 3) In terms of innovation, the company will actively introduce excellent scientific research talents, based on product characteristics and services, and constantly upgrade and develop new equipment functions, so as to continuously improve the company's brand awareness. 4) In terms of service, the company will establish perfect pre-sale, in-sale and after-sale services, and provide enterprises with free debugging and inspection before use and inspection and maintenance after use within three years, and implement the "many-to-one" fixed follow-up mode. and through the customer dynamic information established by the company, the company's sales and technical personnel can clearly understand the situation of processing enterprises, provide better service, so as to continuously consolidate and strengthen the company's brand. 6.4 Operation Service Strategy 6.4.1 Online Services We will build websites and communities online to better position the Internet + IT logistics industry. 1) The first is to establish a website and then maintain it, provide a complete product file, record the research and development base of the product, the packaging and transportation process of the material transportation, and cooperate with an independent unmanned aerial vehicle production company to carry out qualified inspection and issue relevant results on the produced devices, so as to realize the later dependence by ensuring its quality and improving customers' trust in the products. 2) The website provides a platform for communication and interaction between consumers, such as the open source community. Online consumers can exchange their own drone development experience, and consumers can resell their own products for the second time. Promote the emotional exchange of customer groups and improve the stability of customer groups. 3) Maintain interaction with consumers, be customer-oriented, and provide consumers with more satisfactory daily management services. To launch exchange activities, considering that the buyers may be university researchers, such as students like us, who may want to add comprehensive evaluation points while engaged in scientific research, we plan to hold various competitions on a regular basis to reward those with excellent results. 4) Solicit various opinions and suggestions from consumers and continuously improve service quality. Popularize the relevant knowledge of drones and material transport,Let the material transportation company operate its own sky base and material operation package in an orderly and orderly manner. 6.4.2 Offline Services 1) Measure environmental factors around the world, according to the UAV application scenario, we build our own UAV test base to continue to develop and innovate. 2) When logistics units or individuals need maintenance personnel, we will provide specialized staff to help consumers, so as to improve supporting services and create a harmonious magnetic field for drones. 3) In the medium-term stage, when there is already a small customer base, continue to promote the product, mainly in the form of user experience and results display; in the later stage, there is already a stable customer base, and it is necessary to continue to fight for the potential customer base. The promotion can be continued by showing the results of previous periods, etc. 4) Other services: provide detailed product consulting services, including product price, performance, technical parameters, free training, and free debugging of purchased equipment, so as to improve the company's popularity and credibility; free debugging services for customers, detailed training for customers, establishment of perfect customer files, regular return visits, each return visit will be entered into the customer management system to ensure that the products remain in the best condition. 6.5 business model Business philosophy: science and technology as the guide, market-oriented, contract agreement, to sell fixed production. Business strategy: The company will adopt a 4P marketing strategy based on products, prices, channels, and promotions, coupled with the auxiliary role of brand strategy and network marketing, to gradually open the market for the company's products and gain a certain market share. In this link, the company will pay more attention to cooperation with advertising agencies, scientific research institutions, promotion and sales of demonstration sites, and improve services, and continue to find and solve problems, so as to improve the company's organizational structure and system construction. 6.6 business process 1) New product realization process. The Scientific Research Department identifies, researches, develops and successfully launches new products and other activities that focus on speed, quality and cost control objectives. 2) Order-payment process. All activities involved in marketing, order acceptance, sales approval, on-time delivery and loan collection by the General and Scientific Research Departments. 3) Customer service process. Establish a sound pre-sale, sale, after-sales service, so that the company and customers to maintain a long-term partnership, and get rapid and satisfactory service, response and problem-solving activities. Chapter 7 Financial Analysis 7.1 financial forecast assumptions This plan is based on the company's current self-financing plan, based on market capacity and likely market share forecasts, with product output assumed to be 2021-2025. This earnings forecast is a prudent forecast of the Company's financial position, operating results and profitability for the next five years, taking into account the expected market capacity for 2021-2025 and the underlying and specific assumptions. During the earnings forecast period, the Company is based on the following important underlying assumptions: (1) There are no significant changes in the current laws, regulations and policies of our country followed by the company; (2) There are no significant changes in the socio-economic environment in which the company operates; (3) There are no significant changes in the tax system and related tax incentives currently followed by the company; (4) The company's planned business projects and major marketing contracts can be successfully implemented; (5) No significant adverse effects caused by other force majeure and unforeseen factors; (6) The company's bookkeeping standard currency is RMB. In its specific earnings projections, the Company is based primarily on the following specific assumptions: (1) The depreciable life of fixed assets is 5 years and the salvage rate of fixed assets is 0, and depreciation is provided on a straight-line basis. (2) Intangible assets are amortized over a period of 10 years using the straight-line method; (3) The VAT rate is 13% and the income tax rate is 25%; Table 7.1 Financial Forecast Assumptions 7.2 sales revenue forecast Based on the marketing department's marketing plan, the company's key sales forecasts for the next five years are shown below. Unit price (yuan) Hardware model material 1 1500 Sensor, MCU 3 4000 Physical material 1 3000 Parts and components 3 2000 Software program debugging 1 1500 Software Development 1 1500 Total price 13500 Table 7.2 The composition and price of a set of "MRT" products. Excluding the approximate cost 6500 of one set of products, net income is approximately 7000 one set; sales are expected to double in five years. Year First year Second year Third year Fourth year Fifth year Sales volume (sets) 400 500 600 700 800 Sales revenue ($million) 540 675 810 945 1080 Net profit ($million) 280 350 420 490 560 Table 7.3 MRT will be born "sales budget table unit: ten thousand yuan. 7.3 Financial Situation The company's development prospects are very considerable. The company attaches great importance to the development of new technologies and new product research and development, research and development costs will increase year by year, it can be expected that the relative cost of products will be reduced, the net interest rate still has a lot of room for growth. Moderate capital turnover, while ensuring profitability, is conducive to the accumulation of capital. The company raises funds quickly, the market capacity is large, the company's operating ability is outstanding, has a strong profitability, good profit development space. The growth of the company is inseparable from the investment of shareholders, according to the forecast of the company's operating conditions in the next few years, the company can grow with a higher profit, and intends to extract a reasonable proportion of funds from the net profit as a return to shareholders. Sources and uses of 7.4 funds Source: The company's founding funds come from shareholders' investment, as well as venture capital financing income, reliable sources of funds, legal raising channels, project details are neat and standardized, to ensure the stability of the company's later development. Purpose: Mainly used for the pre-investment, investment and construction period of the expenditure, including company registration costs, costs, personnel training, pre-publicity, research costs, capital turnover planning, pre-staff salary reserves, site rental and decoration and the corresponding equipment purchase. 7.5 Financial Analysis The company tries to avoid financial risks in financial operations, and conducts detailed and prudent trial calculations of various cost forecast indicators, and makes reasonable control of cost ratios based on typical cases at home and abroad. With cash flow control as the main focus, in the risk monitoring at the same time, as far as possible to reduce costs, in order to quickly recover the investment at the same time, to achieve high-speed, steady growth in financial performance, and in the longer-term financial plan, to expand the company's business scale, the introduction of venture capital to prepare. Due to the exclusion of changes in bank interest rates, human causes and force majeure, possible inventory caused by dismantling in processing after returns, and the time value of funds, there must be some differences between the financial performance of the actual company's operations and the trial balance. and so on are not reflected in the financial statements. In summary, on the basis of careful financing analysis and financial forecast, the project has shown considerable investment returns and good development prospects, and on the basis of minimizing financial risks, it has achieved high growth in business income, which fully shows that the project is feasible and has very high investment value.