设计了一种低成本多机协同无人机(UAV)测控系统。该系统采用时分双工(TDD)通信协议，零成本解决了数据电台间通信半双工转全双工的难题，实现了基于数据电台的单载波全双工测控方式在无人机上的应用，适应了测控系统小型化低成本的发展趋势；采用心跳同步式时分多址通信方法，有效降低了同步误差，解决了多架无人机同频段遥测数据堵塞问题，为多机协同作战无人机的同屏多任务操控创造了有利条件。

The new low-cost observe and control system of multi-aircraft cooperative Unmanned Aerial Vehicle(UAV) is designed. The Time Division Duplex(TDD) protocol is adopted to resolve the problem that half-duplex communication is transformed to full-duplex communication between data radios at zero cost, then it can realize the application of single carrier full-duplex control mode based on data radio. This system adapts to the development trend of miniaturization and low-cost for observe and control system. The communication mode of time-division multiple address based on heartbeat is designed to reduce the synchronization error. It can resolve the problem that telemetry data is blocked up in the same frequency channel for many flights, and create favorable conditions for multi task control on the same screen for multi-aircraft cooperative UAV.