CN106656307A - Unmanned aerial vehicle flight limitation management method based on frequency modulation data broadcasting, unmanned serial vehicle and management center - Google Patents

Unmanned aerial vehicle flight limitation management method based on frequency modulation data broadcasting, unmanned serial vehicle and management center Download PDF

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Publication number
CN106656307A
CN106656307A CN201611130841.XA CN201611130841A CN106656307A CN 106656307 A CN106656307 A CN 106656307A CN 201611130841 A CN201611130841 A CN 201611130841A CN 106656307 A CN106656307 A CN 106656307A
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China
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flight
information
frequency modulation
modulation data
data radio
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CN201611130841.XA
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CN106656307B (en
Inventor
陈曦
王梦璐
郑成功
匡麟玲
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Tsinghua University
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Tsinghua University
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/18502—Airborne stations
    • H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/04—Control of altitude or depth
    • G05D1/042—Control of altitude or depth specially adapted for aircraft
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04H—BROADCAST COMMUNICATION
    • H04H20/00—Arrangements for broadcast or for distribution combined with broadcast
    • H04H20/44—Arrangements characterised by circuits or components specially adapted for broadcast
    • H04H20/46—Arrangements characterised by circuits or components specially adapted for broadcast specially adapted for broadcast systems covered by groups H04H20/53-H04H20/95
    • H04H20/47—Arrangements characterised by circuits or components specially adapted for broadcast specially adapted for broadcast systems covered by groups H04H20/53-H04H20/95 specially adapted for stereophonic broadcast systems
    • H04H20/48—Arrangements characterised by circuits or components specially adapted for broadcast specially adapted for broadcast systems covered by groups H04H20/53-H04H20/95 specially adapted for stereophonic broadcast systems for FM stereophonic broadcast systems

Abstract

The invention provides an unmanned aerial vehicle flight limitation management method based on frequency modulation data broadcasting, an unmanned serial vehicle and a management center. The method comprises the steps of receiving and demodulating a frequency modulation data broadcasting signal sent by the management center, wherein the frequency modulation data broadcasting signal comprises a positioning information frame and a flight limitation information frame; computing own flight state information according to the positioning information frame; and when the condition that the own flight state information conforms with limitation of the flight limitation information frame is detected, sending alarm information conforming with flight limitation to a control terminal. According to the method provided by the invention, the positioning information and the flight limitation information are sent in a frequency modulation data broadcasting manner, and download traffic charges of a user are reduced while network connection resources are saved.

Description

Based on the unmanned plane during flying limitation management method of frequency modulation data radio, unmanned plane and pipe Reason center
Technical field
The present invention relates to unmanned plane during flying administrative skill field, more particularly to a kind of nobody based on frequency modulation data radio Machine flight restriction management method, unmanned plane and administrative center.
Background technology
The fast development of unmanned plane causes the data of agricultural, building industry, exploration, mineral products, real estate and other many industries Collection work becomes simpler convenient.However, while in the air the quantity of unmanned plane is more and more more, the flight peace of unmanned plane Entirely, the aspect such as management control and data processing also gradually generates huge problem.
In traditional unmanned machine management system, system is needed the setting of no-fly zone boundary, unmanned plane during flying height and speed Degree limit etc. constraint information, unmanned plane administrative center using mobile communications network be distributed in real time each it is connected nobody Machine, the information interaction amount between unmanned plane and management system is huge, causes the huge consumption of Internet resources, also brings huge to user Big campus network cost.
The content of the invention
Based on this, it is necessary to for the huge problem of network resource consumption in unmanned plane during flying limitation management, there is provided a kind of Based on the unmanned plane during flying limitation management method of frequency modulation data radio, unmanned plane and administrative center, wherein, methods described includes：
The frequency modulation data radio signal of administrative center's transmission is received and demodulates, the frequency modulation data radio signal includes positioning Information frame and flight restriction information frame；
Itself state of flight information is calculated according to the location information frame；
When detecting itself the state of flight information and meeting the restriction of the flight restriction information frame, to operation control terminal Transmission meets the warning information of flight restriction.
Wherein in one embodiment, the flight restriction information frame carries flight restriction information, the flight restriction letter Breath includes that flying speed is limited, flying height is limited, flight range limits one of those or any combination.
Wherein in one embodiment, the location information frame carries satellite navigation enhancement information；
Then itself state of flight information is calculated according to the location information frame, including：
Itself state of flight information is calculated according to the satellite navigation enhancement information, itself the state of flight information includes Airspeed information, flying height information and flight position information.
Wherein in one embodiment, the frequency modulation data radio signal also includes integrated information frame, the integrated information Frame includes zone identification information and network identification information, and the zone identification information includes geographic area identification information, the net Network identification information includes the identification information of the administrative center；
Before the step of then calculating itself state of flight information according to the location information frame, methods described also includes：
According to the zone identification information and network identification information, and the flight restriction information frame, judge whether symbol The restriction of the flight restriction information frame is closed, if meeting the restriction of the flight restriction information frame, is sent to operation control terminal and is accorded with Close the warning information of flight restriction；
If not meeting the restriction of the flight restriction information frame, itself state of flight is calculated according to the location information frame Information.
Wherein in one embodiment, methods described also includes：
When detecting itself the state of flight information and meeting the restriction of the flight restriction information frame, to operation control terminal Transmission meets the warning information of flight restriction, while adjusting itself state of flight.
It is described to meet the flight restriction letter when detecting itself the state of flight information wherein in one embodiment During the restriction of breath frame, send to operation control terminal and meet the warning information of flight restriction, while itself state of flight is adjusted, including：
Adjustment flying speed, adjustment flying height and adjustment flight range are therein a kind of or are combined；
The adjustment flying speed includes：When the flying speed meets the flying speed to be limited, described flying is adjusted In the range of scanning frequency degree to the flying speed is limited, and no longer the operation control terminal that receives is sent meet described flying The speed of row rate limitation changes instruction and is responded, until sailing out of the flying speed restricted area；
The adjustment flying height includes：
When the flying height meets the flying height to be limited, adjust the flying height and limit to the flying height In the range of system, and the Level Change for meeting the flying height restriction that the operation control terminal no longer to receiving sends refers to Order is responded, until sailing out of the flying height restricted area；
The adjustment flight range includes：
When the flight position information is fallen in the range of the flight range restriction, make a return voyage along track when coming, and not Again the position for meeting the flight range restriction of the operation control terminal transmission to receiving changes instruction and responds, until Sail out of the scope that the flight range is limited.
Unmanned plane during flying limitation management method based on frequency modulation data radio provided by the present invention, unmanned plane is by receiving The utilization digital frequency modulation broadcast signal that administrative center is sent using digital broadcasting transmitter, parses the digital frequency modulation broadcast signal The location information frame and flight restriction information frame of middle carrying, for the state of flight information that unmanned plane calculates itself, and will calculate Itself the state of flight information for drawing and flight restriction information frame are contrasted, and judge whether that meeting the flight restriction limits letter The restriction of breath, if meeting, the warning information for meeting flight restriction is sent to operation control terminal.It is provided by the present invention based on frequency modulation The unmanned plane during flying limitation management method of data broadcasting, administrative center sends frequency modulation data radio letter using digital broadcasting transmitter Number, unmanned plane receives and parses through the mode of the location information and flight restriction information carried in the frequency modulation data radio signal, The flight restriction management of unmanned machine management system is completed, mobile communications network resource in unmanned plane during flying limitation management is saved Use, reduce the campus network cost of user.
Wherein in one embodiment, integrated information frame, the integrated information are carried in the frequency modulation data radio signal Frame includes zone identification information and network identification information, and itself flight is being carried out using satellite navigation enhancement information for unmanned plane Before the calculating of status information, tentatively judge whether the restriction for meeting the flight restriction information, save the flight limit of unmanned plane Amount of calculation processed simultaneously, improves the speed that flight restriction judges.
Wherein in one embodiment, meet the flight limit when unmanned plane is gone out based on frequency modulation data radio signal of change After the restriction of information processed, can adjust the state of flight of itself, the requirement of the flight restriction information reached so that it is whole nobody The management of machine flight restriction management system is more perfect.
The present invention also provides a kind of unmanned plane during flying limitation management method based on frequency modulation data radio, methods described bag Include：
Satellite navigation signals, own location information and flight restriction information are obtained, the flight restriction information includes flight Rate limitation, flying height are limited, flight range limits one of those or any combination；
Satellite navigation enhancement information is calculated according to the own location information and the satellite navigation signals；
According to the satellite navigation enhancement information and default frequency modulation data radio information frame format, location information is generated Frame, according to the flight restriction information and default frequency modulation data radio information frame format, generates flight restriction information frame；
It is raw according to the location information frame, the flight restriction information frame and default frequency modulation data radio signal format Into frequency modulation data radio signal；
The frequency modulation data radio signal is sent to digital broadcasting transmitter, so that digital broadcasting transmitter transmitting institute State frequency modulation data radio signal.
Wherein in one embodiment, described according to the location information frame, the flight restriction information frame and default Frequency modulation data radio signal format, generate frequency modulation data radio signal the step of before, methods described also includes：
Obtain zone identification information and network identification information that itself is located；
According to the zone identification information, the network identification information and default frequency modulation data radio information frame format, Generate integrated information frame；
It is then described according to the location information frame, the flight restriction information frame and default frequency modulation data radio signal lattice Formula, generates frequency modulation data radio signal, also includes：
It is wide according to the integrated information frame, the location information frame, the flight restriction information frame and the frequcny modulation data Signal format is broadcast, the frequency modulation data radio signal is generated.
Unmanned plane during flying limitation management method based on frequency modulation data radio provided by the present invention, administrative center is by number Digital frequency modulation broadcast signal is sent according to broadcast transmitter, the location information frame of carrying and flight in the digital frequency modulation broadcast signal Restricted information frame, the unmanned plane for receiving the digital frequency modulation broadcast new model calculates the state of flight information of itself, and Itself the state of flight information for calculating and flight restriction information frame are contrasted, judges whether to meet the flight restriction The restriction of restricted information, if meeting, the warning information for meeting flight restriction is sent to operation control terminal.Base provided by the present invention In the unmanned plane during flying limitation management method of frequency modulation data radio, administrative center sends frequcny modulation data using digital broadcasting transmitter Broadcast singal, unmanned plane receives and parses through the location information and flight restriction information carried in the frequency modulation data radio signal Mode, completes the flight restriction management of unmanned machine management system, saves mobile communications network in unmanned plane during flying limitation management The use of resource, reduces the campus network cost of user.
Wherein in one embodiment, integrated information frame, the integrated information are carried in the frequency modulation data radio signal Frame includes zone identification information and network identification information, and itself flight is being carried out using satellite navigation enhancement information for unmanned plane Before the calculating of status information, tentatively judge whether the restriction for meeting the flight restriction information, save the flight limit of unmanned plane Amount of calculation processed simultaneously, improves the speed that flight restriction judges.
The present invention provides a kind of unmanned plane based on frequency modulation data radio, including：
Frequency modulation data radio signal receives demodulation module, is believed with the frequency modulation data radio for receiving and demodulate administrative center's transmission Number, the frequency modulation data radio signal includes location information frame and flight restriction information frame；
State of flight information computational module, for calculating itself state of flight information according to the location information frame；
Flight restriction judge module, for detecting itself the state of flight information flight restriction information is met During the restriction of frame, the warning information for meeting flight restriction is sent to operation control terminal.
Wherein in one embodiment, the flight restriction information frame carries flight restriction information, the flight restriction letter Breath includes that flying speed is limited, flying height is limited, flight range limits one of those or any combination.
Wherein in one embodiment, the location information frame carries satellite navigation enhancement information；
The then state of flight information computational module, including：
Satellite fix computing unit, for calculating itself state of flight information, institute according to the satellite navigation enhancement information Itself state of flight information is stated including airspeed information, flying height information and flight position information.
Wherein in one embodiment, the frequency modulation data radio signal also includes integrated information frame, the integrated information Frame includes zone identification information and network identification information, and the zone identification information includes geographic area identification information, the net Network identification information includes the identification information of the administrative center；
The unmanned plane also includes：
The preliminary judge module of flight restriction, for according to the zone identification information and network identification information and described Flight restriction information frame, judges whether to meet the restriction of the flight restriction information frame, if meeting the flight restriction information frame Restriction, then send to operation control terminal and meet the warning information of flight restriction；
If not meeting the restriction of the flight restriction information frame, itself state of flight is calculated according to the location information frame Information.
Wherein in one embodiment, also include：
State of flight adjusting module, for detecting itself the state of flight information flight restriction information is met During the restriction of frame, send to operation control terminal and meet the warning information of flight restriction, while adjusting itself state of flight.
Wherein in one embodiment, the state of flight adjusting module, for adjusting flying speed, adjustment flying height Therein with adjustment flight range a kind of or any combination；Including：
Flying speed adjustment unit, for when the flying speed meets the flying speed and limits, adjusting described flying In the range of scanning frequency degree to the flying speed is limited, and no longer the operation control terminal that receives is sent meet described flying The speed of row rate limitation changes instruction and is responded, until sailing out of the flying speed restricted area；
Flying height adjustment unit, for when the flying height meets the flying height and limits, adjusting described flying In the range of row height to the flying height is limited, and no longer the operation control terminal that receives is sent meet described flying The Level Change instruction of row height limitation is responded, until sailing out of the flying height restricted area；
Flight range adjustment unit, for falling in the range of the flight range restriction when the flight position information When, make a return voyage along track when coming, and the position for meeting the flight range restriction that the operation control terminal no longer to receiving sends Put change instruction to be responded, until sailing out of the scope that the flight range is limited.
Unmanned plane based on frequency modulation data radio provided by the present invention, is sent out by receiving administrative center using data broadcasting The utilization digital frequency modulation broadcast signal of machine transmission is penetrated, the location information frame that carries in the digital frequency modulation broadcast signal is parsed and is flown Row restricted information frame, for the state of flight information that unmanned plane calculates itself, and by itself the state of flight information for calculating Contrasted with flight restriction information frame, judged whether the restriction for meeting the flight restriction restricted information, if meeting, to behaviour Control terminal sends the warning information for meeting flight restriction.Unmanned plane during flying based on frequency modulation data radio provided by the present invention is limited Management method processed, administrative center sends frequency modulation data radio signal using digital broadcasting transmitter, and unmanned plane receives and parses through institute The mode of the location information and flight restriction information carried in frequency modulation data radio signal is stated, using data frequency modulation broadcasting as nothing The broadcast distribution means of all kinds of unmanned plane auxiliary such as man-machine flight restriction information and management information, can reach at lower cost non- Normal extensive coverage；Meanwhile, the distribution of unmanned plane management information need not be propagated by mobile communications network, save big Amount network connection resource, it also avoid producing user the data traffic expense of great number；Additionally, data dissemination speed is fast, it is all kinds of Unmanned plane is aided in and management information can in real time fashion be distributed to unmanned plane, it is to avoid information transmission is not in time.
Wherein in one embodiment, integrated information frame, the integrated information are carried in the frequency modulation data radio signal Frame includes zone identification information and network identification information, and itself flight is being carried out using satellite navigation enhancement information for unmanned plane Before the calculating of status information, tentatively judge whether the restriction for meeting the flight restriction information, save the flight limit of unmanned plane Amount of calculation processed simultaneously, improves the speed that flight restriction judges.
Wherein in one embodiment, meet the flight limit when unmanned plane is gone out based on frequency modulation data radio signal of change After the restriction of information processed, can adjust the state of flight of itself, the requirement of the flight restriction information reached so that it is whole nobody The management of machine flight restriction management system is more perfect.
The present invention also provides a kind of unmanned plane administrative center based on frequency modulation data radio, including：
Data obtaining module, for obtaining satellite navigation signals, own location information and flight restriction information, the flight Restricted information includes that flying speed is limited, flying height is limited, flight range limits one of those or any combination；
Satellite navigation enhancement information computing module, based on according to the own location information and the satellite navigation signals Calculate satellite navigation enhancement information；
Information frame generation module, for according to the satellite navigation enhancement information and default frequency modulation data radio information frame Form, generates location information frame, according to the flight restriction information and default frequency modulation data radio information frame format, generates and flies Row restricted information frame；
Frequency modulation data radio signal generation module, for according to the location information frame, the flight restriction information frame and Default frequency modulation data radio signal format, generates frequency modulation data radio signal；
Frequency modulation data radio signal transmitting module, for sending the frequency modulation data radio letter to digital broadcasting transmitter Number, so that the digital broadcasting transmitter launches the frequency modulation data radio signal.
From in one of embodiment, described information acquisition module is additionally operable to obtain the zone identification information itself being located And network identification information；
Described information frame generation module, is additionally operable to according to the zone identification information, the network identification information and presets Frequency modulation data radio information frame format, generate integrated information frame；
The frequency modulation data radio signal generation module, be additionally operable to according to the integrated information frame, the location information frame, The flight restriction information frame and the frequency modulation data radio signal format, generate the frequency modulation data radio signal.
Unmanned plane administrative center based on frequency modulation data radio provided by the present invention, is sent using digital broadcasting transmitter Digital frequency modulation broadcast signal, so as to the unmanned plane of the digital frequency modulation broadcast signal is received, by parsing the frequency-shift keying The location information frame carried in broadcast singal and flight restriction information frame, for the state of flight information that unmanned plane calculates itself, And contrasted itself the state of flight information for calculating and flight restriction information frame, judge whether to meet the flight limit The restriction of restricted information processed.Unmanned plane during flying limitation management method based on frequency modulation data radio provided by the present invention, management Center sends frequency modulation data radio signal using digital broadcasting transmitter, and unmanned plane receives and parses through the frequency modulation data radio letter The location information carried in number and the mode of flight restriction information, using data frequency modulation broadcasting as unmanned plane during flying restricted information Etc. all kinds of unmanned planes auxiliary and the broadcast distribution means of management information, covering model widely can be at lower cost reached Enclose；Meanwhile, the distribution of unmanned plane management information need not be propagated by mobile communications network, save a large amount of network connection moneys Source, it also avoid producing user the data traffic expense of great number；Additionally, data dissemination speed is fast, all kinds of unmanned planes auxiliary and Management information can in real time fashion be distributed to unmanned plane, it is to avoid information transmission is not in time.
Wherein in one embodiment, integrated information frame, the integrated information are carried in the frequency modulation data radio signal Frame includes zone identification information and network identification information, and itself flight is being carried out using satellite navigation enhancement information for unmanned plane Before the calculating of status information, tentatively judge whether the restriction for meeting the flight restriction information, save the flight limit of unmanned plane Amount of calculation processed simultaneously, improves the speed that flight restriction judges.
Description of the drawings
Fig. 1 is the structural representation of the unmanned plane during flying restrictions management system based on frequency modulation data radio of one embodiment Figure；
Fig. 2 is the structural representation of the frequency modulation data radio signal based on the unmanned plane during flying limitation management of frequency modulation data radio Figure；
Fig. 3 is the structural representation of the location information frame based on the unmanned plane during flying limitation management of frequency modulation data radio；
Fig. 4 is the structural representation of the flight restriction information frame based on the unmanned plane during flying limitation management of frequency modulation data radio Figure；
Fig. 5 is the structural representation of the integrated information frame based on the unmanned plane during flying limitation management of frequency modulation data radio；
Fig. 6 illustrates for the flow process of the unmanned plane during flying limitation management method based on frequency modulation data radio of one embodiment Figure；
Fig. 7 is that the flow process of the unmanned plane during flying limitation management method based on frequency modulation data radio of another embodiment is illustrated Figure；
Fig. 8 is that the flow process of the unmanned plane during flying limitation management method based on frequency modulation data radio of another embodiment is illustrated Figure；
Fig. 9 illustrates for the flow process of the unmanned plane during flying limitation management method based on frequency modulation data radio of further embodiment Figure；
Figure 10 is the structural representation of the unmanned plane based on frequency modulation data radio of one embodiment；
Figure 11 is the structural representation of the unmanned plane based on frequency modulation data radio of another embodiment；
Figure 12 is the structural representation of the unmanned plane based on frequency modulation data radio of another embodiment；
Figure 13 is the structural representation of the unmanned plane administrative center based on frequency modulation data radio of one embodiment.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with drawings and Examples pair The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, not For limiting the present invention.
In to solve conventional art unmanned plane during flying restrictions management system, the big problem of network resource consumption, the present invention is adopted Flight restriction information is sent with the mode of frequency modulation data radio, while network connection resource is saved, the download of user is reduced Campus network cost.Meanwhile, outside flight restriction information, GNSS (Global may also provide using data frequency modulation broadcasting Navigation Satellite System GPSs) satellite navigation enhancement information, further strengthen to nobody The flight restriction management of machine, and positioning and the work of navigation of unmanned plane.
The principle for sending unmanned plane during flying restricted information using frequency modulation broadcasting is as follows：In FM frequency ranges, usable spectrum resource is 88-108Mhz, the frequency range is further divided into the integral multiple channel of 100KHz, distributes to each broadcasting station.At me State, it is contemplated that the spectrum width of FM signal, the actual bandwidth of the emitter in each broadcasting station is 300KHz, more than 90% Frequency interval between radio station is not less than 300KHz.Because stereo fm signal actual signal main body is within ± 75KHz, because This, frequency modulation signal power is very low on the frequency spectrum of ± [75,150] KHz.Therefore, this section of frequency spectrum resource can be recycled.In U.S. State, each broadcasting station is assigned the frequency spectrum of 400KHz, and the HDRadio in the U.S. is exactly using the compatible tradition of FM frequency spectrum cavity-pockets Digital audio broadcasting, CDR (the China Digital Radio) digital audio broadcast standard of China are realized while FM signals It is similar with the HDRadio in the U.S., and technical scheme transplants mobile TV standard CMMB (the China Mobile from China Multimedia Broadcasting).In fact, China and the U.S. are a difference in that emitter bandwidth only has 300KHz, because This must design not to existing frequency modulation broadcasting produce can perceive interference a kind of 300KHz it is compatible within digital broadcasting pattern, The transformation to existing broadcast infrastructure can to greatest extent be reduced.
In order to not to broadcasting station itself need send content interfere, can with symbiosis frequency modulation data radio technology, The technology is based on stereo fm signal actual signal main body within ± 75KHz, and frequency modulation on the frequency spectrum of ± [75,150] KHz Very low this phenomenon of signal power, recycles to this section of frequency spectrum resource.
Utilization frequency modulation broadcasting of the present invention sends the method for Navigation of Pilotless Aircraft director information and can adopt above-mentioned symbiosis Frequency modulation data radio, it would however also be possible to employ frequency modulation frequency band digital audio broadcasting CDR (the frequency modulation band number word tones of GY/T 268.1-2013 Frequency broadcast national standard) data transmission channel, or using based on frequency modulated subcarrier data broadcasting RDS (Radio Data System, is a kind of widely used frequency modulation data radio technology, data rate about 1.1kbps, associated international standards：IEC 62106:2015Specification of the radio data system(RDS)for VHF/FM sound broadcasting in the frequency range from 87,5MHz to 108,0MHz).The present invention is not limited to Above-mentioned broadcast technology system, can also utilize other broadcasting systems.
Fig. 1 is the structural representation of the unmanned plane during flying restrictions management system based on frequency modulation data radio of one embodiment Figure, the unmanned plane during flying restrictions management system based on frequency modulation data radio as shown in Figure 1, including：
Administrative center 1, for sending the frequency modulation for carrying flight restriction information and location information by digital broadcasting transmitter 2 Data broadcasting signal, manages the unmanned plane in its coverage, and including to the unmanned plane in its coverage flight restriction is provided Management.
Digital broadcasting transmitter 2, for sending the tune of carrying flight restriction information that administrative center 1 sends and location information Frequency data broadcasting signal.
Unmanned plane 3a and 3b, for receiving the frequency modulation data radio signal of the transmission of the digital broadcasting transmitter 2, parse institute The flight restriction information and location information carried in data broadcasting signal is stated, the calculating of itself state of flight information is completed, and is sentenced The disconnected restriction for whether meeting the flight restriction information, if judged result is to meet the restriction of the flight restriction information, to Respective operation control terminal sends warning information.
Operation control terminal 4a and 4b, send out for sending flight control information to the unmanned plane of respective connection, and receiving unmanned plane The warning information for sending.
The unmanned plane during flying restrictions management system based on frequency modulation data radio that the present embodiment is provided, using based on frequency modulation The unmanned plane during flying limitation management of data broadcasting, can at lower cost reach coverage widely；Meanwhile, unmanned plane The distribution of management information need not be propagated by mobile communications network, save a large amount of network connection resources, it also avoid to Family produces the data traffic expense of great number；Additionally, data dissemination speed is fast, all kinds of unmanned plane auxiliary and management information can be with realities When mode be distributed to unmanned plane, it is to avoid information transmission is not in time.
Fig. 6 illustrates for the flow process of the unmanned plane during flying limitation management method based on frequency modulation data radio of one embodiment Figure, as shown in Figure 6 is included based on the unmanned plane during flying limitation management method of frequency modulation data radio：
Step S100, receives and demodulates the frequency modulation data radio signal of administrative center's transmission, the frequency modulation data radio letter Number include location information frame and flight restriction information frame.
Specifically, in unmanned machine management system as described in Figure 2, the frequency modulation data radio signal that administrative center 1 sends, Generally issued as unit with " page ", per page includes different information frames again.
In Fig. 2, page N is current page, and page N-1 is the prevpage of current page, and page N+1 is the next page of current page, and per page again Include different information frames.
Frame 0 is location information frame, and frame 1 is flight restriction information frame.In actual use, the location information frame and institute The sequencing of flight information frame is stated, can arbitrarily be adjusted according to demand.
As shown in figure 3, the location information frame carries satellite navigation enhancement information, the concrete frame knot of the location information frame Structure includes：UTC time, reference frequency, reference position, satellite ephemeris, pseudo range difference correction.
As shown in figure 4, the flight restriction information frame carries flight restriction information, the flight restriction information includes flight Rate limitation, flying height are limited, flight range limits one of those or any combination.The no-fly region can adopt longitude and latitude The modes such as degree, street name, the statement of built-in electronic map area are represented.
The flight restriction information frame shown in Fig. 4 includes：Flying speed is limited, and flying height is limited, no-fly region mark Know, no-fly initial latitude, no-fly termination latitude, no-fly initial longitude, no-fly termination longitude.
Step S200, according to the location information frame itself state of flight information is calculated.
Specifically, the satellite navigation enhancement information in the location information frame, and default state of flight algorithm, can To obtain the accurate positional information of unmanned plane itself and velocity information, wherein, the positional information includes latitude and longitude information and height Degree information.The default state of flight algorithm, including being completed using the satellite enhanced navigation information in the location information frame To the quick of GNSS (Global Navigation Satellite System GPSs) satellite navigation signals Acquisition and tracking, and navigation signal is corrected, positioning calculation is completed using ripe algorithms such as least square methods, obtain unmanned plane The precise position information and velocity information of itself.
According to the location information frame and default state of flight algorithm, unmanned plane itself the state of flight letter is obtained Breath, including according to the satellite navigation enhancement information and default state of flight algorithm, obtains unmanned plane itself the flight shape State information, the unmanned plane itself state of flight information includes airspeed information, flying height information and flight position information.
Step S300, when detecting itself the state of flight information and meeting the restriction of the flight restriction information frame, The warning information for meeting flight restriction is sent to operation control terminal.
Specifically, according to the unmanned plane itself state of flight information and the flight restriction information for parsing, can be to nobody Whether meet the restriction scope that the flight restriction information specifies to be judged.If whether the flying speed of unmanned plane is less than described The highest flying speed that flight restriction information specifies, or higher than the minimum flying speed of flight restriction information regulation；Nobody And flying height, if higher than the minimum flight altitude that the flight restriction information specifies, or whether less than the flight limit The highest flying height that information processed specifies；And the unmanned plane position, if in flight restriction information regulation Outside the scope that no-fly zone longitude and latitude delimited, or whether the no-fly zone specified in the flight restriction information identifies covered model Outside enclosing.
When the flying speed of the unmanned plane, flying height, and unmanned plane position meet the flight restriction letter During the restriction of breath, the warning information for meeting flight restriction is sent to the operation control terminal of the unmanned plane, and, the warning information bag Include, flying height meets flying height restriction, flying speed and meets flying speed restriction, or position is no-fly zone, to institute State operation control terminal and send warning information, point out the manipulator of unmanned plane, so that manipulator sends corresponding flight control to unmanned plane System instruction, controls unmanned plane change of flight state, until not meeting the scope that the flight restriction information specifies.
Unmanned plane during flying limitation management method based on frequency modulation data radio provided by the present invention, unmanned plane is by receiving The utilization digital frequency modulation broadcast signal that administrative center is sent using digital broadcasting transmitter, parses the digital frequency modulation broadcast signal The location information frame and flight restriction information frame of middle carrying, for the state of flight information that unmanned plane calculates itself, and will calculate Itself the state of flight information for drawing and flight restriction information frame are contrasted, and judge whether that meeting the flight restriction limits letter The restriction of breath, if meeting, the warning information for meeting flight restriction is sent to operation control terminal.It is provided by the present invention based on frequency modulation The unmanned plane during flying limitation management method of data broadcasting, administrative center sends frequency modulation data radio letter using digital broadcasting transmitter Number, unmanned plane receives and parses through the mode of the location information and flight restriction information carried in the frequency modulation data radio signal, Using data frequency modulation broadcasting as all kinds of unmanned plane auxiliary such as unmanned plane during flying restricted information and the broadcast distribution hand of management information Section, can at lower cost reach coverage widely；Meanwhile, the distribution of unmanned plane management information need not be by moving Dynamic communication network is propagated, and has saved a large amount of network connection resources, it also avoid producing user the data traffic expense of great number；This Outward, data dissemination speed is fast, all kinds of unmanned planes auxiliary and management information can in real time fashion be distributed to unmanned plane, it is to avoid letter Breath transmission is not in time.
Fig. 7 is that the flow process of the unmanned plane during flying limitation management method based on frequency modulation data radio of another embodiment is illustrated Figure, as shown in Figure 7 is included based on the unmanned plane during flying limitation management method of frequency modulation data radio：
The frequency modulation data radio signal also include integrated information frame, the integrated information frame include zone identification information and Network identification information, the zone identification information includes geographic area identification information, and the network identification information includes the pipe The identification information at reason center.As shown in figure 5, the integrated information frame includes text classification, the data class of follow-up frame is represented Not；Textual time, the time that identification information frame sends；Area identification, for representing the administrative region for being currently located region mark Deng；Network identification information (network communication address or domain name etc.), can be used to represent the coverage check information of the administrative center, Can be used for the data check of follow-up frame.
Step S100a, receives and demodulates the frequency modulation data radio signal of administrative center's transmission, the frequency modulation data radio letter Number include location information frame and flight restriction information frame.
Specifically, with step S100.
Step S200a, according to the zone identification information and network identification information, and the flight restriction information frame, Judge whether to meet the restriction of the flight restriction information frame, if meeting the restriction of the flight restriction information frame, to manipulation Terminal sends the warning information for meeting flight restriction.
Specifically, according to the zone identification information and network identification information carried in integrated information frame, and the flight Whether the flight restriction information in restricted information frame, meet the unmanned plane prescribed limit of the flight restriction information, enters The preliminary judgement of row.
Wherein, by the geographic range representated by the zone identification information more than the ground representated by the network identification information Reason scope carries out preliminary comparison, selects geographic range therein less one, it is believed that be the more rough of unmanned plane place Position range, and it is compared with the flight restriction information in the flight restriction information frame, if flight restriction letter In breath, the coverage area of no-fly zone is then judged as symbol more than the less geographic range of geographic range that above-mentioned mark is covered The restriction of no-fly zone in the flight restriction information is closed, the alarm for meeting flight restriction is sent to the operation control terminal of the unmanned plane Information, points out the manipulator of unmanned plane, needs to sail out of region.
Step S300a, if not meeting the restriction of the flight restriction information frame, calculates certainly according to the location information frame Body state of flight information.
Specifically, if through preliminary judgement, to meet the flight restriction information in regard to no-fly zone restriction, including The coverage area of no-fly zone is less than the coverage area of above-mentioned mark, or three has overlapped, then need further profit Satellite navigation enhancement information is used, the precise position information of unmanned plane is positioned, and to flying speed and flying height information Calculated, whether the flying speed and flying height for determining whether unmanned plane meets the restriction of the flight restriction information.
Step S400a, when detecting itself the state of flight information and meeting the restriction of the flight restriction information frame, The warning information for meeting flight restriction is sent to operation control terminal.
Specifically, with step S300.
In the present embodiment, integrated information frame is carried in the frequency modulation data radio signal, the integrated information frame includes Zone identification information and network identification information, itself state of flight letter is being carried out for unmanned plane using satellite navigation enhancement information Before the calculating of breath, tentatively judge whether the restriction for meeting the flight restriction information, the flight restriction for saving unmanned plane is calculated Workload simultaneously, improves the speed that flight restriction judges.
Fig. 8 is that the flow process of the unmanned plane during flying limitation management method based on frequency modulation data radio of another embodiment is illustrated Figure, as shown in Figure 8 is included based on the unmanned plane during flying limitation management method of frequency modulation data radio：
Step S100b, receives and demodulates the frequency modulation data radio signal of administrative center's transmission, the frequency modulation data radio letter Number include location information frame and flight restriction information frame.
Specifically, with step S100.
Step S200b, according to the location information frame itself state of flight information is calculated.
Specifically, with step S200.
Step S300b, when detecting itself the state of flight information and meeting the restriction of the flight restriction information frame, The warning information for meeting flight restriction is sent to operation control terminal.
Specifically, with step S300.
Step S400b, when detecting itself the state of flight information and meeting the restriction of the flight restriction information frame, Send to operation control terminal and meet the warning information of flight restriction, while adjusting itself state of flight.
Specifically, flying speed, adjustment flying height and adjustment flight range one kind therein or any combination are adjusted；
The adjustment flying speed includes：When the flying speed meets the flying speed to be limited, described flying is adjusted In the range of scanning frequency degree to the flying speed is limited, and no longer the operation control terminal that receives is sent meet described flying The speed of row rate limitation changes instruction and is responded, until sailing out of the flying speed restricted area；
The adjustment flying height includes：
When the flying height meets the flying height to be limited, adjust the flying height and limit to the flying height In the range of system, and the Level Change for meeting the flying height restriction that the operation control terminal no longer to receiving sends refers to Order is responded, until sailing out of the flying height restricted area；
The adjustment flight range includes：
When the flight position information is fallen in the range of the flight range restriction, make a return voyage along track when coming, and not Again the position for meeting the flight range restriction of the operation control terminal transmission to receiving changes instruction and responds, until Sail out of the scope that the flight range is limited.
In the present embodiment, meet the flight restriction information when unmanned plane is gone out based on frequency modulation data radio signal of change Restriction after, can adjust the state of flight of itself so that the management of whole unmanned plane during flying restrictions management system is more perfect.
Fig. 9 illustrates for the flow process of the unmanned plane during flying limitation management method based on frequency modulation data radio of further embodiment Figure, as shown in Figure 9 is included based on the unmanned plane during flying limitation management method of frequency modulation data radio：
Step S10, obtains satellite navigation signals, own location information and flight restriction information, the flight restriction information Limit including flying speed, flying height is limited, flight range limits one of those or any combination.
Step S20, according to the own location information and the satellite navigation signals satellite navigation enhancement information is calculated.
Specifically, administrative center is according to own location information, and the GNSS satellite navigation signal for receiving, using similar The principle of AGPS (Assisted-GPS) system, draws GNSS satellite navigation enhancement information, including to each satellite pseudorange, pseudorange speed Differential corrections amount of rate etc. etc..The satellite navigation enhancement information include UTC (UTC time), Ref Freq (reference frequency), Ref Pos (reference position), Ephemeris (satellite ephemeris), Pseudorange DC (pseudo range difference correction).
Step S30, according to the satellite navigation enhancement information and default frequency modulation data radio information frame format, it is fixed to generate Position information frame, according to the flight restriction information and default frequency modulation data radio information frame format, generates flight restriction information Frame.
Specifically, frequency modulation data radio information frame can be different frame structures, be adopted according to the difference of the content of information frame in With the form of different frame structures.The step of Fig. 6 in S100, respectively to the location information frame and flight restriction information frame Frame structure is described, and here is omitted.
Step S40, according to the location information frame, the flight restriction information frame and default frequency modulation data radio signal Form, generates frequency modulation data radio signal.
Specifically, with S100 the step of Fig. 6 with regard to frequency modulation data radio signal form description.
Step S50, to digital broadcasting transmitter the frequency modulation data radio signal is sent, so that data broadcasting transmitting Machine launches the frequency modulation data radio signal.
Specifically, as shown in figure 1, administrative center sends frequency modulation data radio signal by digital broadcasting transmitter.
Unmanned plane administrative center based on frequency modulation data radio provided by the present invention, is sent using digital broadcasting transmitter Digital frequency modulation broadcast signal, so as to the unmanned plane of the digital frequency modulation broadcast signal is received, by parsing the frequency-shift keying The location information frame carried in broadcast singal and flight restriction information frame, for the state of flight information that unmanned plane calculates itself, And contrasted itself the state of flight information for calculating and flight restriction information frame, judge whether to meet the flight limit The restriction of restricted information processed.The present invention is using data frequency modulation broadcasting as all kinds of unmanned plane auxiliary such as unmanned plane during flying restricted information With the broadcast distribution means of management information, coverage widely can be at lower cost reached；Meanwhile, unmanned plane management The distribution of information need not be propagated by mobile communications network, save a large amount of network connection resources, it also avoid producing user The data traffic expense of raw great number；Additionally, data dissemination speed is fast, all kinds of unmanned plane auxiliary and management information can be with sides in real time Formula is distributed to unmanned plane, it is to avoid information transmission is not in time.
Wherein in one embodiment, described according to the location information frame, the flight restriction information frame and default Frequency modulation data radio signal format, generate frequency modulation data radio signal the step of before, methods described also includes：
Obtain zone identification information and network identification information that itself is located；
According to the zone identification information, the network identification information and default frequency modulation data radio information frame format, Generate integrated information frame；
It is then described according to the location information frame, the flight restriction information frame and default frequency modulation data radio signal lattice Formula, generates frequency modulation data radio signal, also includes：
It is wide according to the integrated information frame, the location information frame, the flight restriction information frame and the frequcny modulation data Signal format is broadcast, the frequency modulation data radio signal is generated.
In the present embodiment, integrated information frame is carried in the frequency modulation data radio signal, the integrated information frame includes Zone identification information and network identification information, itself state of flight letter is being carried out for unmanned plane using satellite navigation enhancement information Before the calculating of breath, tentatively judge whether the restriction for meeting the flight restriction information, the flight restriction for saving unmanned plane is calculated Workload simultaneously, improves the speed that flight restriction judges.
Figure 10 for one embodiment the unmanned plane based on frequency modulation data radio structural representation, base as shown in Figure 10 Include in the unmanned plane of frequency modulation data radio：
Frequency modulation data radio signal receives demodulation module 100, wide with the frequcny modulation data for receiving and demodulate administrative center's transmission Signal is broadcast, the frequency modulation data radio signal includes location information frame and flight restriction information frame；The flight restriction information frame Flight restriction information is carried, the flight restriction information frame carries flight restriction information, and the flight restriction information includes flight Rate limitation, flying height are limited, flight range limits one of those or any combination.
State of flight information computational module 200, for calculating itself state of flight information according to the location information frame；Institute State location information frame and carry satellite navigation enhancement information；The then state of flight information computational module, including：Satellite fix is calculated Unit, for calculating itself state of flight information, itself state of flight packet according to the satellite navigation enhancement information Include airspeed information, flying height information and flight position information.
Flight restriction judge module 300, for detecting itself the state of flight information flight restriction is met During the restriction of information frame, the warning information for meeting flight restriction is sent to operation control terminal.
Unmanned plane based on frequency modulation data radio provided by the present invention, is sent out by receiving administrative center using data broadcasting The utilization digital frequency modulation broadcast signal of machine transmission is penetrated, the location information frame that carries in the digital frequency modulation broadcast signal is parsed and is flown Row restricted information frame, for the state of flight information that unmanned plane calculates itself, and by itself the state of flight information for calculating Contrasted with flight restriction information frame, judged whether the restriction for meeting the flight restriction restricted information, if meeting, to behaviour Control terminal sends the warning information for meeting flight restriction.Unmanned plane during flying based on frequency modulation data radio provided by the present invention is limited Management method processed, administrative center sends frequency modulation data radio signal using digital broadcasting transmitter, and unmanned plane receives and parses through institute The mode of the location information and flight restriction information carried in frequency modulation data radio signal is stated, using data frequency modulation broadcasting as nothing The broadcast distribution means of all kinds of unmanned plane auxiliary such as man-machine flight restriction information and management information, can reach at lower cost non- Normal extensive coverage；Meanwhile, the distribution of unmanned plane management information need not be propagated by mobile communications network, save big Amount network connection resource, it also avoid producing user the data traffic expense of great number；Additionally, data dissemination speed is fast, it is all kinds of Unmanned plane is aided in and management information can in real time fashion be distributed to unmanned plane, it is to avoid information transmission is not in time.
Figure 11 is the structural representation of the unmanned plane based on frequency modulation data radio of another embodiment, as shown in figure 11 Included based on the unmanned plane of frequency modulation data radio：
Frequency modulation data radio signal receives demodulation module 100, wide with the frequcny modulation data for receiving and demodulate administrative center's transmission Signal is broadcast, the frequency modulation data radio signal includes location information frame and flight restriction information frame；The flight restriction information frame Flight restriction information is carried, the flight restriction information frame carries flight restriction information, and the flight restriction information includes flight Rate limitation, flying height are limited, flight range limits one of those or any combination.
The frequency modulation data radio signal also include integrated information frame, the integrated information frame include zone identification information and Network identification information, the zone identification information includes geographic area identification information, and the network identification information includes the pipe The identification information at reason center.
The preliminary judge module 200a of flight restriction, for according to the zone identification information and network identification information, and The flight restriction information frame, judges whether to meet the restriction of the flight restriction information frame, if meeting the flight restriction letter The restriction of breath frame, then send the warning information for meeting flight restriction to operation control terminal；If not meeting the flight restriction information frame Restriction, then itself state of flight information is calculated according to the location information frame.
State of flight information computational module 200, for calculating itself state of flight information according to the location information frame；Institute State location information frame and carry satellite navigation enhancement information；The then state of flight information computational module, including：Satellite fix is calculated Unit, for calculating itself state of flight information, itself state of flight packet according to the satellite navigation enhancement information Include airspeed information, flying height information and flight position information.
Flight restriction judge module 300, for detecting itself the state of flight information flight restriction is met During the restriction of information frame, the warning information for meeting flight restriction is sent to operation control terminal.
In the present embodiment, integrated information frame is carried in the frequency modulation data radio signal, the integrated information frame includes Zone identification information and network identification information, itself state of flight letter is being carried out for unmanned plane using satellite navigation enhancement information Before the calculating of breath, tentatively judge whether the restriction for meeting the flight restriction information, the flight restriction for saving unmanned plane is calculated Workload simultaneously, improves the speed that flight restriction judges.
Figure 12 is the structural representation of the unmanned plane based on frequency modulation data radio of another embodiment, as shown in figure 12 Included based on the unmanned plane of frequency modulation data radio：
Frequency modulation data radio signal receives demodulation module 100, wide with the frequcny modulation data for receiving and demodulate administrative center's transmission Signal is broadcast, the frequency modulation data radio signal includes location information frame and flight restriction information frame；The flight restriction information frame Flight restriction information is carried, the flight restriction information frame carries flight restriction information, and the flight restriction information includes flight Rate limitation, flying height are limited, flight range limits one of those or any combination.
State of flight information computational module 200, for calculating itself state of flight information according to the location information frame；Institute State location information frame and carry satellite navigation enhancement information.
Flight restriction judge module 300, for detecting itself the state of flight information flight restriction is met During the restriction of information frame, the warning information for meeting flight restriction is sent to operation control terminal.
State of flight adjusting module 400, for when judged result is to meet the restriction of the flight restriction information frame, to Operation control terminal sends and meets the warning information of flight restriction, while adjusting itself state of flight.
The state of flight adjusting module, for adjusting flying speed, adjustment flying height and adjustment flight range wherein One kind or any combination；Including：
Flying speed adjustment unit, for when the flying speed meets the flying speed and limits, adjusting described flying In the range of scanning frequency degree to the flying speed is limited, and no longer the operation control terminal that receives is sent meet described flying The speed of row rate limitation changes instruction and is responded, until sailing out of the flying speed restricted area；
Flying height adjustment unit, for when the flying height meets the flying height and limits, adjusting described flying In the range of row height to the flying height is limited, and no longer the operation control terminal that receives is sent meet described flying The Level Change instruction of row height limitation is responded, until sailing out of the flying height restricted area；
Flight range adjustment unit, for falling in the range of the flight range restriction when the flight position information When, make a return voyage along track when coming, and the position for meeting the flight range restriction that the operation control terminal no longer to receiving sends Put change instruction to be responded, until sailing out of the scope that the flight range is limited.
In the present embodiment, meet the flight restriction information when unmanned plane is gone out based on frequency modulation data radio signal of change Restriction after, can adjust the state of flight of itself, the requirement of the flight restriction information has been reached so that whole unmanned plane during flying The management of restrictions management system is more perfect.
Figure 13 for one embodiment the unmanned plane administrative center based on frequency modulation data radio structural representation, such as Figure 13 Shown is included based on the unmanned plane administrative center of frequency modulation data radio：
Data obtaining module 10, it is described to fly for obtaining satellite navigation signals, own location information and flight restriction information Row restricted information includes that flying speed is limited, flying height is limited, flight range limits one of those or any combination.
Satellite navigation enhancement information computing module 20, for according to the own location information and the satellite navigation signals Calculate satellite navigation enhancement information.
Information frame generation module 30, for according to the satellite navigation enhancement information and default frequency modulation data radio information Frame format, generates location information frame, according to the flight restriction information and default frequency modulation data radio information frame format, generates Flight restriction information frame.
Frequency modulation data radio signal generation module 40, for according to the location information frame, the flight restriction information frame With default frequency modulation data radio signal format, frequency modulation data radio signal is generated.
Frequency modulation data radio signal transmitting module 50, for sending the frequency modulation data radio letter to digital broadcasting transmitter Number, so that the digital broadcasting transmitter launches the frequency modulation data radio signal.
Unmanned plane administrative center based on frequency modulation data radio provided by the present invention, is sent using digital broadcasting transmitter Digital frequency modulation broadcast signal, so as to the unmanned plane of the digital frequency modulation broadcast signal is received, by parsing the frequency-shift keying The location information frame carried in broadcast singal and flight restriction information frame, for the state of flight information that unmanned plane calculates itself, And contrasted itself the state of flight information for calculating and flight restriction information frame, judge whether to meet the flight limit The restriction of restricted information processed.Unmanned plane during flying limitation management method based on frequency modulation data radio provided by the present invention, management Center sends frequency modulation data radio signal using digital broadcasting transmitter, and unmanned plane receives and parses through the frequency modulation data radio letter The location information carried in number and the mode of flight restriction information, using data frequency modulation broadcasting as unmanned plane during flying restricted information Etc. all kinds of unmanned planes auxiliary and the broadcast distribution means of management information, covering model widely can be at lower cost reached Enclose；Meanwhile, the distribution of unmanned plane management information need not be propagated by mobile communications network, save a large amount of network connection moneys Source, it also avoid producing user the data traffic expense of great number；Additionally, data dissemination speed is fast, all kinds of unmanned planes auxiliary and Management information can in real time fashion be distributed to unmanned plane, it is to avoid information transmission is not in time.
Wherein in one embodiment, described information acquisition module is additionally operable to obtain the zone identification information itself being located And network identification information；Described information frame generation module, is additionally operable to according to the zone identification information, the network identification information With default frequency modulation data radio information frame format, integrated information frame is generated；The frequency modulation data radio signal generation module, also For being believed according to the integrated information frame, the location information frame, the flight restriction information frame and the frequency modulation data radio Number form, generates the frequency modulation data radio signal.
Wherein in one embodiment, integrated information frame, the integrated information are carried in the frequency modulation data radio signal Frame includes zone identification information and network identification information, and itself flight is being carried out using satellite navigation enhancement information for unmanned plane Before the calculating of status information, tentatively judge whether the restriction for meeting the flight restriction information, save the flight limit of unmanned plane Amount of calculation processed simultaneously, improves the speed that flight restriction judges.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more concrete and detailed, but and Can not therefore be construed as limiting the scope of the patent.It should be pointed out that for one of ordinary skill in the art comes Say, without departing from the inventive concept of the premise, some deformations and improvement can also be made, these belong to the protection of the present invention Scope.Therefore, the protection domain of patent of the present invention should be defined by claims.

Claims (16)

1. a kind of unmanned plane during flying limitation management method based on frequency modulation data radio, it is characterised in that methods described includes：
The frequency modulation data radio signal of administrative center's transmission is received and demodulates, the frequency modulation data radio signal includes location information Frame and flight restriction information frame；
Itself state of flight information is calculated according to the location information frame；
When detecting itself the state of flight information and meeting the restriction of the flight restriction information frame, send to operation control terminal Meet the warning information of flight restriction.
2. the unmanned plane during flying limitation management method based on frequency modulation data radio according to claim 1, it is characterised in that：
The flight restriction information frame carries flight restriction information, and the flight restriction information includes that flying speed limits, flies Height limitation, flight range limit one of those or any combination.
3. the unmanned plane during flying limitation management method based on frequency modulation data radio according to claim 1, it is characterised in that：
The location information frame carries satellite navigation enhancement information；
Then itself state of flight information is calculated according to the location information frame, including：
Itself state of flight information is calculated according to the satellite navigation enhancement information, itself the state of flight information includes flight Velocity information, flying height information and flight position information.
4. the unmanned plane during flying limitation management method based on frequency modulation data radio according to claim 1, it is characterised in that：
The frequency modulation data radio signal also includes integrated information frame, and the integrated information frame includes zone identification information and network Identification information, the zone identification information includes geographic area identification information, and the network identification information is included in the management The identification information of the heart；
Before the step of then calculating itself state of flight information according to the location information frame, methods described also includes：
According to the zone identification information and network identification information, and the flight restriction information frame, judge whether to meet institute The restriction of flight restriction information frame is stated, if meeting the restriction of the flight restriction information frame, is sent to operation control terminal and is met winged The warning information that row is limited；
If not meeting the restriction of the flight restriction information frame, itself state of flight letter is calculated according to the location information frame Breath.
5. the unmanned plane during flying limitation management method based on frequency modulation data radio according to claim 1, it is characterised in that Methods described also includes：
When detecting itself the state of flight information and meeting the restriction of the flight restriction information frame, send to operation control terminal Meet the warning information of flight restriction, while adjusting itself state of flight.
6. the unmanned plane during flying limitation management method based on frequency modulation data radio according to claim 5, it is characterised in that It is described when detecting itself the state of flight information and meeting the restriction of the flight restriction information frame, send to operation control terminal Meet the warning information of flight restriction, while itself state of flight is adjusted, including：
Adjustment flying speed, adjustment flying height and adjustment flight range are therein a kind of or are combined；
The adjustment flying speed includes：When the flying speed meets the flying speed to be limited, the flight speed is adjusted Spend to the flying speed in the range of limiting, and no longer the operation control terminal that receives is sent meet the flight speed The speed that degree is limited changes instruction and is responded, until sailing out of the flying speed restricted area；
The adjustment flying height includes：
When the flying height meets the flying height to be limited, adjust what the flying height to the flying height was limited In the range of, and no longer the operation control terminal that receives is sent meet the Level Change that the flying height limits instruct into Row response, until sailing out of the flying height restricted area；
The adjustment flight range includes：
When the flight position information is fallen in the range of the flight range restriction, make a return voyage along track when coming, and it is no longer right The position for meeting the flight range restriction of the operation control terminal transmission for receiving changes instruction and is responded, until sailing out of The scope that the flight range is limited.
7. a kind of unmanned plane during flying limitation management method based on frequency modulation data radio, it is characterised in that methods described includes：
Satellite navigation signals, own location information and flight restriction information are obtained, the flight restriction information includes flying speed Limit, flying height is limited, flight range limits one of those or any combination；
Satellite navigation enhancement information is calculated according to the own location information and the satellite navigation signals；
According to the satellite navigation enhancement information and default frequency modulation data radio information frame format, location information frame, root are generated According to the flight restriction information and default frequency modulation data radio information frame format, flight restriction information frame is generated；
According to the location information frame, the flight restriction information frame and default frequency modulation data radio signal format, generate and adjust Frequency data broadcasting signal；
The frequency modulation data radio signal is sent to digital broadcasting transmitter, so that the digital broadcasting transmitter launches the tune Frequency data broadcasting signal.
8. the unmanned plane during flying limitation management method based on frequency modulation data radio according to claim 7, it is characterised in that Described according to the location information frame, the flight restriction information frame and default frequency modulation data radio signal format, generate Before the step of frequency modulation data radio signal, methods described also includes：
Obtain zone identification information and network identification information that itself is located；
According to the zone identification information, the network identification information and default frequency modulation data radio information frame format, generate Integrated information frame；
It is then described according to the location information frame, the flight restriction information frame and default frequency modulation data radio signal format, Frequency modulation data radio signal is generated, is also included：
Believed according to the integrated information frame, the location information frame, the flight restriction information frame and the frequency modulation data radio Number form, generates the frequency modulation data radio signal.
9. a kind of unmanned plane based on frequency modulation data radio, it is characterised in that include：
Frequency modulation data radio signal receive demodulation module, with receive and demodulate administrative center transmission frequency modulation data radio signal, The frequency modulation data radio signal includes location information frame and flight restriction information frame；
State of flight information computational module, for calculating itself state of flight information according to the location information frame；
Flight restriction judge module, for detecting itself the state of flight information flight restriction information frame is met During restriction, the warning information for meeting flight restriction is sent to operation control terminal.
10. the unmanned plane based on frequency modulation data radio according to claim 9, it is characterised in that：
The flight restriction information frame carries flight restriction information, and the flight restriction information includes that flying speed limits, flies Height limitation, flight range limit one of those or any combination.
11. unmanned planes based on frequency modulation data radio according to claim 9, it is characterised in that：
The location information frame carries satellite navigation enhancement information；
The then state of flight information computational module, including：
Satellite fix computing unit, for calculating itself state of flight information according to the satellite navigation enhancement information, it is described from Body state of flight information includes airspeed information, flying height information and flight position information.
12. unmanned planes based on frequency modulation data radio stated according to claim 9, it is characterised in that：
The frequency modulation data radio signal also includes integrated information frame, and the integrated information frame includes zone identification information and network Identification information, the zone identification information includes geographic area identification information, and the network identification information is included in the management The identification information of the heart；
The unmanned plane also includes：
The preliminary judge module of flight restriction, for according to the zone identification information and network identification information, and the flight Restricted information frame, judges whether to meet the restriction of the flight restriction information frame, if meeting the limit of the flight restriction information frame System, then send the warning information for meeting flight restriction to operation control terminal；
If not meeting the restriction of the flight restriction information frame, itself state of flight letter is calculated according to the location information frame Breath.
13. unmanned planes based on frequency modulation data radio according to claim 9, it is characterised in that also include：
State of flight adjusting module, for detecting itself the state of flight information flight restriction information frame is met During restriction, send to operation control terminal and meet the warning information of flight restriction, while adjusting itself state of flight.
14. unmanned planes based on frequency modulation data radio according to claim 13, it is characterised in that：
The state of flight adjusting module, for adjusting flying speed, adjustment flying height and adjustment flight range therein Plant or be combined；Including：
Flying speed adjustment unit, for when the flying speed meets the flying speed and limits, adjusting the flight speed Spend to the flying speed in the range of limiting, and no longer the operation control terminal that receives is sent meet the flight speed The speed that degree is limited changes instruction and is responded, until sailing out of the flying speed restricted area；
Flying height adjustment unit, for when the flying height meets the flying height and limits, adjusting the flight high Spend to the flying height in the range of limiting, and no longer the operation control terminal that receives is sent to meet the flight high The Level Change instruction that degree is limited is responded, until sailing out of the flying height restricted area；
Flight range adjustment unit, for when the flight position information fall into the flight range limit in the range of when, edge Track is maked a return voyage when coming, and the position for meeting the flight range restriction that the operation control terminal no longer to receiving sends changes Instruction is responded, until sailing out of the scope that the flight range is limited.
15. a kind of unmanned plane administrative centers based on frequency modulation data radio, it is characterised in that include：
Data obtaining module, for obtaining satellite navigation signals, own location information and flight restriction information, the flight restriction Information includes that flying speed is limited, flying height is limited, flight range limits one of those or any combination；
Satellite navigation enhancement information computing module, defends for being calculated according to the own location information and the satellite navigation signals Star navigation enhancement information；
Information frame generation module, for according to the satellite navigation enhancement information and default frequency modulation data radio information frame lattice Formula, generates location information frame, according to the flight restriction information and default frequency modulation data radio information frame format, generates flight Restricted information frame；
Frequency modulation data radio signal generation module, for according to the location information frame, the flight restriction information frame and default Frequency modulation data radio signal format, generate frequency modulation data radio signal；
Frequency modulation data radio signal transmitting module, for sending the frequency modulation data radio signal to digital broadcasting transmitter, with The digital broadcasting transmitter is set to launch the frequency modulation data radio signal.
The 16. unmanned plane administrative centers based on frequency modulation data radio according to claim 15, it is characterised in that：
Described information acquisition module, is additionally operable to obtain zone identification information and the network identification information that itself is located；
Described information frame generation module, is additionally operable to according to the zone identification information, the network identification information and default tune Frequency data broadcasting information frame format, generates integrated information frame；
The frequency modulation data radio signal generation module, is additionally operable to according to the integrated information frame, the location information frame, described Flight restriction information frame and the frequency modulation data radio signal format, generate the frequency modulation data radio signal.
CN201611130841.XA 2016-12-09 2016-12-09 Unmanned aerial vehicle flight limitation management method based on frequency modulation data broadcasting, unmanned aerial vehicle and management center Active CN106656307B (en)

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