A method of signal conversion, comprising: receiving the data of USB protocol type or the data of UAVCAN protocol type transmitted by the first device (S110); converting the data of USB protocol type into the data of UAVCAN protocol type; alternatively, converting the data of UAVCAN protocol type into the data of USB protocol type (S120); transmitting the data of UAVCAN protocol type or the data of USB protocol type to the second device (S130), wherein converting the data of USB protocol type into the data of UAVCAN protocol type comprises: converting the data of USB protocol type into the data of serial communication protocol, SCP, type (S220), wherein SCP is running in a Universal Asynchronous Receiver/Transmitter, UART, physical layer; converting the data of serial communication protocol, SCP, type into the data of UAVCAN protocol type (S230) through data signal conversion, using a data signal conversion protocol, which includes an SCP codec module, an SCP-UAVCAN converter and a UAVCAN codec module, and wherein converting the data of UAVCAN protocol type into the data of USB protocol type comprises: converting the data of UAVCAN protocol type into the data of SCP protocol type (S320) through data signal conversion, using the data signal conversion protocol, which includes the UAVCAN codec module, a UAVCAN-SCP converter and the SCP codec module; converting the data of SCP protocol type into the data of USB protocol type (S330), wherein converting the data of USB protocol type into the data of SCP protocol type is performed by a USB to UART serial port chip; alternatively, wherein converting the data of SCP protocol type to the data of USB protocol type is performed by the USB to UART serial port chip. receiving the data of USB protocol type or the data of UAVCAN protocol type transmitted by the first device (S110); converting the data of USB protocol type into the data of UAVCAN protocol type; alternatively, converting the data of UAVCAN protocol type into the data of USB protocol type (S120); transmitting the data of UAVCAN protocol type or the data of USB protocol type to the second device (S130), wherein converting the data of USB protocol type into the data of UAVCAN protocol type comprises: converting the data of USB protocol type into the data of serial communication protocol, SCP, type (S220), wherein SCP is running in a Universal Asynchronous Receiver/Transmitter, UART, physical layer; converting the data of USB protocol type into the data of serial communication protocol, SCP, type (S220), wherein SCP is running in a Universal Asynchronous Receiver/Transmitter, UART, physical layer; converting the data of serial communication protocol, SCP, type into the data of UAVCAN protocol type (S230) through data signal conversion, using a data signal conversion protocol, which includes an SCP codec module, an SCP-UAVCAN converter and a UAVCAN codec module, and wherein converting the data of UAVCAN protocol type into the data of USB protocol type comprises: converting the data of UAVCAN protocol type into the data of SCP protocol type (S320) through data signal conversion, using the data signal conversion protocol, which includes the UAVCAN codec module, a UAVCAN-SCP converter and the SCP codec module; converting the data of SCP protocol type into the data of USB protocol type (S330), wherein converting the data of USB protocol type into the data of SCP protocol type is performed by a USB to UART serial port chip; alternatively, wherein converting the data of SCP protocol type to the data of USB protocol type is performed by the USB to UART serial port chip. <EOS>