Mobile object and antenna automatic alignment method and system thereof

A multi-rotor unmanned aerial vehicle (UAV) system comprising:

• a remote controller including:
• two first wireless antennas;
• a terminal positioning sensor configured to sense current terminal position information of the remote controller;
• and
• a terminal controller coupled to the two first wireless antennas and the terminal positioning sensor;
• and
• a multi-rotor UAV comprising:
• two landing stands;
• a plurality of second wireless antennas arranged at the two landing stands, the plurality of second wireless antennas include three or more second wireless antennas;
• a position sensor configured to acquire current UAV position information;
• and
• a UAV controller coupled to the plurality of second wireless antennas and configured to:
• obtain current terminal position information;
• obtain current UAV position information;
• determine current remote controller relative position information of the remote controller relative to the UAV according to the current terminal position information and the current UAV position information;
• and
• control communication between the UAV and the remote controller according to the current remote controller relative position information, including:
• selecting two of the plurality of second wireless antennas as communication wireless antennas to establish a 2×2 multi-input-multi-output (MIMO) communication link with the two first wireless antennas to conduct the communication between the UAV and the remote controller, unselected one or more of the plurality of second wireless antennas being one or more spare wireless antennas not currently used in the communication between the UAV and the remote controller;
• constructing a position range of the two communication wireless antennas;
• and
• controlling to not switch to the one or more spare wireless antennas to establish the communication between the UAV and the remote controller in response to the current remote controller relative position information indicating that a current remote controller relative position has moved out of the position range but is within a protection range outside the position range.