In 2013, consumer drones ignited the market, and many drone companies were thinking: Maybe drones can be combined with the public security department to help the armed police officers search for thugs. On July 28, 2014, a serious violent terrorist attack occurred in the town of Ailixihu, Shache County, Xinjiang. The Xinjiang Public Security Department and the local government used drones to search the areas where the mobs may be infested. Drones are no longer a new thing. In fact, in the history of police aviation in China for more than 20 years, the contribution of police unmanned aerial vehicles (referred to as police drones) should not be underestimated. The police drone not only helps the public security department to search for suspects, but also performs tasks such as attendance and rescue. It can be seen in many major incidents. The advantage of drone operation is obvious China has developed a UAV for more than 40 years. UAVs have been widely used in civil photography, geophysical exploration, disaster monitoring, coastal private and other civilian fields. Especially in the past five years, with the extensive use of lightweight materials, the development of signal image processing and communication technology, and the miniaturization of autonomous driving and navigation equipment, military drone technology has spilled over to civilians. UAVs, especially multi-rotor unmanned aerial vehicles, are widely recognized for their simple structure, convenient operation and low maintenance cost. They have many functions such as air hovering, automatic cruising, and fixed-point automatic landing. In recent years, a number of new UAV equipment have been successfully developed and delivered, and the UAV equipment system has been greatly improved, and the level of modernization has been significantly improved, especially in the field of air-ground observation equipment such as photoelectric equipment and synthetic aperture radar. Products have reached the level of foreign advanced products. The overall technical level of domestic drones basically meets the domestic military needs. According to statistics, at present, the UAV market in the world accounts for more than 70% of the UAVs produced in China. In order to do a good job in the 2008 Olympic security, the Beijing Municipal Public Security Bureau took the lead in introducing the MD multi-rotor UAV produced in Germany in 2007. Up to now, public security agencies in more than 20 cities such as Shenzhen, Huizhou, Kunming, Wuhan, Wenzhou, Weifang, Qiqihar, Fuyang and Kash have used professional drones to perform their duties. At present, more than 1,000 units in China have launched research and production of drones, and more than 20 units can be mass-produced. The police drone is a branch of police aviation. The development of the police aviation team has now led to the emergence of unmanned systems, no longer dominated by helicopters. Fixed-wing UAVs, multi-rotor UAVs, etc. have emerged. Due to the good hovering effect of the multi-rotor, the small size and vertical take-off and landing, it is now an indispensable model in police aviation. In particular, the relatively mature technology of the four-rotor UAV is widely used in various fields and departments to exert good social and economic effects. At this stage, there are many problems such as insufficient police capacity, low technical content of police equipment, and weak coordination capability of multiple police types. The use of drones can complete "impossible tasks" in various areas of public security. Compared with manned helicopters, small drones have the advantages of low cost and flexibility. UAV technology has become increasingly mature, stable and safe, and can meet the needs of UAVs in the public safety field. With the wide application of composite materials, the electronic control equipment (including the steering gear, receiver, flight control board and other avionics devices) used by drones has been verified by the market for many years, with good stability, safety and reliability. Xu Jing, consultant of the Hawkeye drone company, gave the criteria he believes the police drone needs to meet: First, it is highly integrated with the public security business system. At present, most of the UAVs are only used as a single police tool. They have limited functions and are isolated from the mature business system of the public security department. They cannot form an organic and unified integrated system with other business systems. Therefore, the police drone must be equipped with application modules and interfaces that can be connected to the public security business system. Second, the function is diversified. At present, most of the so-called "police drones" are still in the initial stage of aerial photography, and the application form and application scenario are very simple. The police drones required by the public security department must not only carry out aerial concealed reconnaissance, but also carry out various combat missions such as anti-terrorism, forest fire prevention, emergency air defense, banned smuggling, large-scale event security, and mass incident handling. . It is best to integrate the functions of “inspecting, playing, managing, controlling, saving, and communicatingâ€. Third, the scene is expanding rapidly. A prominent feature of public security work is suddenness and contingency. This feature requires that police equipment must be quickly pulled out and quickly used. At present, the combat units and drone accessories of many police drones are modularized, and have pluggable functions, which can be quickly installed and disassembled in a few minutes. Fourth, communication transmission data is chained. Public security is a special department. Many of the tasks performed are concealed, with high confidentiality requirements, and the task content cannot be leaked at will. When using a drone to perform tasks, data and communication transmission must be data chained to ensure content security. Fifth, the duration of the voyage and the payload are police. Due to the particularity of its application scenario, the duration and payload of the police drone must be able to adapt to various combat missions. At present, most of the UAV products have a battery life of about 30 minutes, and the payload is generally less than 5 kg, which is far from the load and life required by the public security department. 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