CN106656307B

CN106656307B - Unmanned aerial vehicle flight limitation management method based on frequency modulation data broadcasting, unmanned aerial vehicle and management center

Info

Publication number: CN106656307B
Application number: CN201611130841.XA
Authority: CN
Inventors: 陈曦; 王梦璐; 郑成功; 匡麟玲
Original assignee: Tsinghua University
Current assignee: Tsinghua University
Priority date: 2016-12-09
Filing date: 2016-12-09
Publication date: 2020-01-21
Anticipated expiration: 2036-12-09
Also published as: CN106656307A

Abstract

The invention provides an unmanned aerial vehicle flight limitation management method based on frequency modulation data broadcasting, an unmanned aerial vehicle and a management center, wherein the method comprises the following steps: receiving and demodulating a frequency modulation data broadcast signal sent by a management center, wherein the frequency modulation data broadcast signal comprises a positioning information frame and a flight limitation information frame; calculating self flight state information according to the positioning information frame; and when detecting that the self flight state information accords with the limitation of the flight limitation information frame, sending alarm information which accords with the flight limitation to a control terminal. The invention adopts the frequency modulation data broadcasting mode to send the positioning information and the flight limiting information, saves network connection resources and reduces the cost of downloading flow cost of users.

Description

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

Technical Field

The invention relates to the technical field of unmanned aerial vehicle flight management, in particular to an unmanned aerial vehicle flight limitation management method based on frequency modulation data broadcasting, an unmanned aerial vehicle and a management center.

Background

The rapid development of unmanned aerial vehicles makes data collection work in agriculture, construction, exploration, mineral, real estate, and many other industries easier and more convenient. However, as the number of unmanned aerial vehicles increases, the flight safety, management control, data processing, and the like of the unmanned aerial vehicles are also becoming a great problem.

In traditional unmanned aerial vehicle management system, the system need set up forbidden flight district limit, restraint information such as unmanned aerial vehicle flight height and speed limit, and the unmanned aerial vehicle management center utilizes mobile communication network to distribute in real time to every unmanned aerial vehicle rather than being connected, and the information interaction volume between unmanned aerial vehicle and the management system is huge, causes the huge consumption of network resource, also brings huge flow expense cost for the user.

Disclosure of Invention

Based on this, it is necessary to provide an unmanned aerial vehicle flight limitation management method based on fm data broadcasting, an unmanned aerial vehicle and a management center for the problem of huge network resource consumption in unmanned aerial vehicle flight limitation management, wherein the method includes:

receiving and demodulating a frequency modulation data broadcast signal sent by a management center, wherein the frequency modulation data broadcast signal comprises a positioning information frame and a flight limitation information frame;

calculating self flight state information according to the positioning information frame;

and when detecting that the self flight state information accords with the limitation of the flight limitation information frame, sending alarm information which accords with the flight limitation to a control terminal.

In one embodiment, the flight restriction information frame carries flight restriction information, and the flight restriction information includes one or any combination of a flight speed restriction, a flight altitude restriction, and a flight area restriction.

In one embodiment, the positioning information frame carries satellite navigation enhancement information;

calculating self flight state information according to the positioning information frame, wherein the self flight state information comprises the following steps:

and calculating self flight state information according to the satellite navigation enhancement information, wherein the self flight state information comprises flight speed information, flight height information and flight position information.

In one embodiment, the fm data broadcast signal further includes a general information frame, the general information frame includes area identification information and network identification information, the area identification information includes geographical area identification information, and the network identification information includes identification information of the management center;

before the step of calculating the self-flying state information according to the positioning information frame, the method further comprises:

judging whether the limitation of the flight limitation information frame is met or not according to the area identification information, the network identification information and the flight limitation information frame, and if the limitation of the flight limitation information frame is met, sending alarm information meeting the flight limitation to a control terminal;

and if the information frame does not accord with the limitation of the flight limitation information frame, calculating the flight state information of the positioning information frame.

In one embodiment, the method further comprises:

and when detecting that the self-flying state information accords with the limitation of the flying limitation information frame, sending alarm information according with the flying limitation to the control terminal, and simultaneously adjusting the self-flying state.

In one embodiment, when it is detected that the self-flight state information conforms to the limitation of the flight limitation information frame, sending alarm information conforming to flight limitation to a control terminal, and adjusting the self-flight state at the same time includes:

one or any combination of the flying speed adjustment, the flying height adjustment and the flying area adjustment;

the adjusting the flying speed comprises: when the flying speed accords with the flying speed limit, adjusting the flying speed to be within the range of the flying speed limit, and not responding to the received speed change instruction which is sent by the control terminal and accords with the flying speed limit until the terminal leaves the flying speed limit area;

the adjusting the flying height comprises:

when the flying height accords with the flying height limit, adjusting the flying height to be within the range of the flying height limit, and not responding to the received height change instruction which is sent by the control terminal and accords with the flying height limit until the flying height is away from the flying height limit area;

the adjusting the flight zone includes:

and when the flight position information falls into the range limited by the flight area, returning along the time-of-arrival track, and no longer responding to the received position change instruction which is sent by the control terminal and accords with the flight area limit until the flight position information leaves the range limited by the flight area.

The unmanned aerial vehicle utilizes a digital frequency modulation broadcast signal sent by a data broadcast transmitter through a receiving management center to analyze a positioning information frame and a flight limitation information frame carried in the digital frequency modulation broadcast signal, and is used for calculating the flight state information of the unmanned aerial vehicle, comparing the calculated flight state information with the flight limitation information frame, judging whether the flight state information accords with the limitation of the flight limitation information, and if so, sending alarm information according with the flight limitation to a control terminal. According to the unmanned aerial vehicle flight limitation management method based on frequency modulation data broadcasting, provided by the invention, the management center utilizes the data broadcasting transmitter to transmit the frequency modulation data broadcasting signal, and the unmanned aerial vehicle receives and analyzes the positioning information and the flight limitation information carried in the frequency modulation data broadcasting signal, so that the flight limitation management of an unmanned aerial vehicle management system is completed, the use of mobile communication network resources in the unmanned aerial vehicle flight limitation management is saved, and the flow cost of a user is reduced.

In one embodiment, the fm data broadcast signal carries a comprehensive information frame, and the comprehensive information frame includes area identification information and network identification information, and is used for preliminarily judging whether the unmanned aerial vehicle meets the limitation of the flight limitation information before the unmanned aerial vehicle calculates the flight state information by using the satellite navigation enhancement information, so that the calculation workload of the flight limitation of the unmanned aerial vehicle is saved, and the speed of judging the flight limitation is increased.

In one embodiment, after the unmanned aerial vehicle calculates the limit meeting the flight limit information based on the frequency modulation data broadcast signal, the flight state of the unmanned aerial vehicle can be adjusted to meet the requirement of the flight limit information, so that the management of the whole unmanned aerial vehicle flight limit management system is more perfect.

The invention also provides an unmanned aerial vehicle flight limitation management method based on frequency modulation data broadcasting, which comprises the following steps:

acquiring satellite navigation signals, self-position information and flight limitation information, wherein the flight limitation information comprises one or any combination of flight speed limitation, flight altitude limitation and flight area limitation;

calculating satellite navigation enhancement information according to the self-position information and the satellite navigation signal;

generating a positioning information frame according to the satellite navigation enhancement information and a preset frequency modulation data broadcast information frame format, and generating a flight limitation information frame according to the flight limitation information and the preset frequency modulation data broadcast information frame format;

generating a frequency modulation data broadcast signal according to the positioning information frame, the flight limitation information frame and a preset frequency modulation data broadcast signal format;

and sending the frequency modulation data broadcast signal to a data broadcast transmitter so that the data broadcast transmitter transmits the frequency modulation data broadcast signal.

In one embodiment, before the step of generating an fm data broadcast signal according to the positioning information frame, the flight restriction information frame, and a preset fm data broadcast signal format, the method further includes:

acquiring the identification information of the area where the mobile terminal is located and the network identification information;

generating a comprehensive information frame according to the area identification information, the network identification information and a preset frequency modulation data broadcasting information frame format;

generating an fm data broadcast signal according to the positioning information frame, the flight restriction information frame, and a preset fm data broadcast signal format, further comprising:

and generating the frequency modulation data broadcast signal according to the comprehensive information frame, the positioning information frame, the flight limitation information frame and the frequency modulation data broadcast signal format.

The invention provides an unmanned aerial vehicle flight limitation management method based on frequency modulation data broadcasting.A management center sends a digital frequency modulation broadcasting signal through a data broadcasting transmitter, and a positioning information frame and a flight limitation information frame carried in the digital frequency modulation broadcasting signal are used for receiving flight state information of an unmanned aerial vehicle of a new type of the digital frequency modulation broadcasting, comparing the calculated flight state information with the flight limitation information frame, judging whether the flight state information conforms to the limitation of the flight limitation information, and if so, sending alarm information conforming to the flight limitation to a control terminal. According to the unmanned aerial vehicle flight limitation management method based on frequency modulation data broadcasting, provided by the invention, the management center utilizes the data broadcasting transmitter to transmit the frequency modulation data broadcasting signal, and the unmanned aerial vehicle receives and analyzes the positioning information and the flight limitation information carried in the frequency modulation data broadcasting signal, so that the flight limitation management of an unmanned aerial vehicle management system is completed, the use of mobile communication network resources in the unmanned aerial vehicle flight limitation management is saved, and the flow cost of a user is reduced.

The invention provides an unmanned aerial vehicle based on frequency modulation data broadcasting, which comprises:

the system comprises a frequency modulation data broadcast signal receiving and demodulating module, a data transmission module and a data transmission module, wherein the frequency modulation data broadcast signal receiving and demodulating module is used for receiving and demodulating a frequency modulation data broadcast signal sent by a management center, and the frequency modulation data broadcast signal comprises a positioning information frame and a flight limitation information frame;

the flight state information calculation module is used for calculating the flight state information of the aircraft according to the positioning information frame;

and the flight restriction judgment module is used for sending alarm information meeting the flight restriction to the control terminal when the flight state information of the control terminal is detected to meet the restriction of the flight restriction information frame.

the flight status information calculation module includes:

and the satellite positioning calculation unit is used for calculating self flight state information according to the satellite navigation enhancement information, wherein the self flight state information comprises flight speed information, flight height information and flight position information.

the unmanned aerial vehicle still includes:

the flight restriction preliminary judgment module is used for judging whether the flight restriction information frame meets the restriction of the flight restriction information frame or not according to the area identification information, the network identification information and the flight restriction information frame, and if the flight restriction information frame meets the restriction of the flight restriction information frame, sending alarm information meeting the flight restriction to the control terminal;

In one embodiment, the method further comprises the following steps:

and the flight state adjusting module is used for sending alarm information meeting the flight limitation to the control terminal and adjusting the flight state of the aircraft when the fact that the flight state information of the aircraft meets the limitation of the flight limitation information frame is detected.

In one embodiment, the flight state adjusting module is used for adjusting one or any combination of a flight speed, a flight height and a flight area; the method comprises the following steps:

the flight speed adjusting unit is used for adjusting the flight speed to be within the range of the flight speed limit when the flight speed accords with the flight speed limit, and does not respond to the received speed change instruction which is sent by the control terminal and accords with the flight speed limit until the aircraft leaves the flight speed limit area;

the flying height adjusting unit is used for adjusting the flying height to be within the range of the flying height limit when the flying height accords with the flying height limit, and does not respond to the received height change instruction which is sent by the control terminal and accords with the flying height limit until the flying height is away from the flying height limit area;

and the flight area adjusting unit is used for returning along the incoming time track when the flight position information falls into the range limited by the flight area, and does not respond to the received position change instruction which is sent by the control terminal and accords with the flight area limit until the flight position information leaves the range limited by the flight area.

The unmanned aerial vehicle based on frequency modulation data broadcasting analyzes a positioning information frame and a flight restriction information frame carried in a digital frequency modulation broadcasting signal through receiving and managing a digital frequency modulation broadcasting signal sent by a data broadcasting transmitter, is used for calculating the flight state information of the unmanned aerial vehicle, compares the calculated flight state information with the flight restriction information frame, judges whether the flight state information conforms to the restriction of the flight restriction information, and sends the alarm information conforming to the flight restriction to a control terminal if the flight state information conforms to the restriction of the flight restriction information. According to the unmanned aerial vehicle flight limitation management method based on frequency modulation data broadcasting, a management center utilizes a data broadcasting transmitter to transmit frequency modulation data broadcasting signals, an unmanned aerial vehicle receives and analyzes positioning information and flight limitation information carried in the frequency modulation data broadcasting signals, data frequency modulation broadcasting is adopted as a broadcasting and distributing means of various unmanned aerial vehicle auxiliary and management information such as unmanned aerial vehicle flight limitation information, and the very wide coverage range can be achieved at low cost; meanwhile, the unmanned aerial vehicle management information is distributed without being transmitted through a mobile communication network, so that a large amount of network connection resources are saved, and high data traffic cost for users is avoided; in addition, data propagation speed is fast, and all kinds of unmanned aerial vehicle are supplementary and management information can distribute to unmanned aerial vehicle with real-time mode, have avoided information transfer untimely.

The invention also provides an unmanned aerial vehicle management center based on frequency modulation data broadcasting, which comprises:

the information acquisition module is used for acquiring satellite navigation signals, self-position information and flight limitation information, wherein the flight limitation information comprises one or any combination of flight speed limitation, flight altitude limitation and flight area limitation;

the satellite navigation enhancement information calculation module is used for calculating satellite navigation enhancement information according to the self-position information and the satellite navigation signal;

an information frame generating module, configured to generate a positioning information frame according to the satellite navigation enhancement information and a preset fm data broadcast information frame format, and generate a flight restriction information frame according to the flight restriction information and the preset fm data broadcast information frame format;

the frequency modulation data broadcast signal generating module is used for generating frequency modulation data broadcast signals according to the positioning information frame, the flight limitation information frame and a preset frequency modulation data broadcast signal format;

and the frequency modulation data broadcast signal sending module is used for sending the frequency modulation data broadcast signal to a data broadcast transmitter so that the data broadcast transmitter transmits the frequency modulation data broadcast signal.

In one embodiment, the information obtaining module is further configured to obtain area identification information and network identification information where the information obtaining module is located;

the information frame generating module is further configured to generate a comprehensive information frame according to the area identification information, the network identification information and a preset frequency modulation data broadcast information frame format;

the frequency modulation data broadcast signal generating module is further configured to generate the frequency modulation data broadcast signal according to the integrated information frame, the positioning information frame, the flight restriction information frame, and the frequency modulation data broadcast signal format.

The unmanned aerial vehicle management center based on frequency modulation data broadcasting utilizes the data broadcasting transmitter to transmit digital frequency modulation broadcasting signals, so that an unmanned aerial vehicle receiving the digital frequency modulation broadcasting signals can calculate the flight state information of the unmanned aerial vehicle by analyzing the positioning information frame and the flight limitation information frame carried in the digital frequency modulation broadcasting signals, and judge whether the unmanned aerial vehicle meets the limitation of the flight limitation information by comparing the calculated flight state information with the flight limitation information frame. According to the unmanned aerial vehicle flight limitation management method based on frequency modulation data broadcasting, a management center utilizes a data broadcasting transmitter to transmit frequency modulation data broadcasting signals, an unmanned aerial vehicle receives and analyzes positioning information and flight limitation information carried in the frequency modulation data broadcasting signals, data frequency modulation broadcasting is adopted as a broadcasting and distributing means of various unmanned aerial vehicle auxiliary and management information such as unmanned aerial vehicle flight limitation information, and the very wide coverage range can be achieved at low cost; meanwhile, the unmanned aerial vehicle management information is distributed without being transmitted through a mobile communication network, so that a large amount of network connection resources are saved, and high data traffic cost for users is avoided; in addition, data propagation speed is fast, and all kinds of unmanned aerial vehicle are supplementary and management information can distribute to unmanned aerial vehicle with real-time mode, have avoided information transfer untimely.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of a system for managing flight restrictions of an unmanned aerial vehicle based on fm data broadcasting;

fig. 2 is a schematic structural diagram of an fm data broadcast signal for drone flight limit management based on fm data broadcast;

fig. 3 is a schematic structural diagram of a positioning information frame for unmanned aerial vehicle flight restriction management based on fm data broadcasting;

fig. 4 is a schematic structural diagram of a flight restriction information frame for unmanned aerial vehicle flight restriction management based on fm data broadcasting;

FIG. 5 is a schematic structural diagram of a comprehensive information frame for UAV flight restriction management based on FM data broadcasting;

fig. 6 is a schematic flow chart of an embodiment of a method for managing flight restrictions of an unmanned aerial vehicle based on fm data broadcasting;

fig. 7 is a schematic flow chart of a method for managing flight restrictions of an unmanned aerial vehicle based on fm data broadcasting according to another embodiment;

fig. 8 is a schematic flow chart of a method for managing flight restrictions of an unmanned aerial vehicle based on fm data broadcasting according to another embodiment;

fig. 9 is a schematic flow chart of a method for managing flight restrictions of an unmanned aerial vehicle based on fm data broadcasting according to yet another embodiment;

fig. 10 is a schematic structural diagram of an embodiment of a drone based on fm data broadcasting;

fig. 11 is a schematic structural diagram of an unmanned aerial vehicle based on fm data broadcasting according to another embodiment;

fig. 12 is a schematic structural diagram of a drone based on fm data broadcasting according to yet another embodiment;

fig. 13 is a schematic structural diagram of an unmanned aerial vehicle management center based on fm data broadcasting according to an embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In order to solve the problem of high network resource consumption in the unmanned aerial vehicle flight restriction management system in the prior art, the invention adopts a frequency modulation data broadcasting mode to send flight restriction information, thereby saving network connection resources and reducing the cost of downloading flow cost of users. Meanwhile, besides the flight restriction information, the data frequency modulation broadcast can also provide GNSS (Global navigation Satellite System) Satellite navigation enhancement information, so that the flight restriction management of the unmanned aerial vehicle and the positioning and navigation work of the unmanned aerial vehicle are further enhanced.

The principle of transmitting the flight restriction information of the unmanned aerial vehicle by using frequency modulation broadcasting is as follows: in the FM band, the available spectrum resources are 88-108 Mhz, and the band is further divided into integer multiples of 100KHz channels allocated to each broadcaster. In China, the frequency spectrum width of a frequency modulation signal is considered, the actual bandwidth of a transmitter of each broadcasting station is 300KHz, and the frequency interval between more than 90% broadcasting stations is not less than 300 KHz. Because the actual signal main body of the stereo frequency modulation signal is within +/-75 KHz, the frequency modulation signal power on the frequency spectrum of +/-75,150 KHz is very low. Therefore, this segment of spectrum resources can be reused. In the united states, each broadcasting station is allocated 400KHz frequency spectrum, the HDRadio in the united states realizes Digital audio broadcasting while utilizing FM frequency spectrum holes to be compatible with traditional FM signals, the cdr (central Digital radio) Digital audio broadcasting standard in China is similar to the HDRadio in the united states, and the technical scheme is transplanted from the mobile phone television standard cmmb (Chinese mobile multimedia broadcasting) in China. In fact, the difference between our country and the united states is that the transmitter bandwidth is only 300KHz, so that a digital broadcast mode within 300KHz compatibility, which does not generate appreciable interference to the existing fm broadcast, must be designed to reduce the modification of the existing broadcast infrastructure to the maximum extent.

In order to not cause interference to the content required to be sent by a broadcasting station, a frequency modulation data broadcasting technology can be symbiotically used, and the technology is based on the phenomenon that the actual signal main body of a stereo frequency modulation signal is within +/-75 KHz, and the frequency modulation signal power on a frequency spectrum of +/-75,150 KHz is very low, so that the frequency spectrum resource is reused.

The method for sending the unmanned aerial vehicle navigation guidance information by using frequency modulation broadcasting can adopt the symbiotic frequency modulation data broadcasting, can also adopt a data transmission channel of a frequency modulation frequency band digital audio broadcasting CDR (GY/T268.1-2013 national standard for frequency modulation frequency band digital audio broadcasting), or adopts a data broadcasting RDS (Radio data System, which is a widely used frequency modulation data broadcasting technology and has a data rate of about 1.1kbps and a related international standard of 62IEC 106:2015Specification of the Radio Data System (RDS) for VHF/FM Radio data broadcasting in the frequency range from 87,5MHz to 108 and 0 MHz). The present invention is not limited to the above-described broadcast technology scheme, and other broadcast schemes may be used.

Fig. 1 is a schematic structural diagram of an embodiment of a system for managing flight restrictions of an unmanned aerial vehicle based on fm data broadcasting, where the system for managing flight restrictions of an unmanned aerial vehicle based on fm data broadcasting shown in fig. 1 includes:

the management center 1 is used for sending frequency modulation data broadcast signals carrying flight limitation information and positioning information through the data broadcast transmitter 2, managing the unmanned aerial vehicles in the coverage range of the management center, and providing flight limitation management for the unmanned aerial vehicles in the coverage range of the management center.

And the data broadcast transmitter 2 is used for transmitting the frequency modulation data broadcast signal which carries the flight limitation information and the positioning information and is transmitted by the management center 1.

And the unmanned

aerial vehicles

3a and 3b are used for receiving the frequency modulation data broadcast signals sent by the data broadcast transmitter 2, analyzing the flight limitation information and the positioning information carried in the data broadcast signals, completing the calculation of the flight state information of the unmanned aerial vehicles, judging whether the flight limitation information meets the limitation of the flight limitation information, and sending alarm information to respective control terminals if the judgment result meets the limitation of the flight limitation information.

And the

control terminals

4a and 4b are used for sending flight control information to the unmanned aerial vehicles connected with each other and receiving alarm information sent by the unmanned aerial vehicles.

The unmanned aerial vehicle flight limitation management system based on frequency modulation data broadcasting provided by the embodiment adopts unmanned aerial vehicle flight limitation management based on frequency modulation data broadcasting, and can achieve a very wide coverage range at a lower cost; meanwhile, the unmanned aerial vehicle management information is distributed without being transmitted through a mobile communication network, so that a large amount of network connection resources are saved, and high data traffic cost for users is avoided; in addition, data propagation speed is fast, and all kinds of unmanned aerial vehicle are supplementary and management information can distribute to unmanned aerial vehicle with real-time mode, have avoided information transfer untimely.

Fig. 6 is a schematic flow chart of an embodiment of a method for managing flight restrictions of an unmanned aerial vehicle based on fm data broadcasting, where the method for managing flight restrictions of an unmanned aerial vehicle based on fm data broadcasting shown in fig. 6 includes:

step S100, receiving and demodulating a frequency modulation data broadcast signal sent by a management center, wherein the frequency modulation data broadcast signal comprises a positioning information frame and a flight limitation information frame.

Specifically, in the unmanned aerial vehicle management system shown in fig. 2, the fm data broadcast signal sent by the management center 1 is usually sent in units of "pages", and each page includes different information frames.

In FIG. 2, page N is the current page, page N-1 is the previous page of the current page, and page N +1 is the next page of the current page, each page including different information frames.

Frame 0 is a positioning information frame and frame 1 is a flight restriction information frame. In actual use, the sequence of the positioning information frame and the flight information frame can be adjusted randomly according to requirements.

As shown in fig. 3, the positioning information frame carries satellite navigation enhancement information, and a specific frame structure of the positioning information frame includes: UTC time, reference frequency, reference position, satellite ephemeris, pseudorange differential corrections.

As shown in fig. 4, the flight restriction information frame carries flight restriction information, which includes one or any combination of a flight speed restriction, a flight altitude restriction, and a flight area restriction. The no-fly area can be represented by longitude and latitude, street names, built-in electronic map area expression and the like.

The flight restriction information frame shown in fig. 4 includes: flight speed limit, flight altitude limit, no-fly zone identification, no-fly start latitude, no-fly end latitude, no-fly start longitude, no-fly end longitude.

And step S200, calculating the self flight state information according to the positioning information frame.

Specifically, according to the satellite navigation enhancement information in the positioning information frame and a preset flight state algorithm, the accurate position information and speed information of the unmanned aerial vehicle can be obtained, wherein the position information comprises longitude and latitude information and height information. The preset flight state algorithm comprises the steps of completing rapid acquisition and tracking of GNSS (Global Navigation Satellite System) Satellite Navigation signals by using Satellite enhanced Navigation information in the positioning information frame, correcting the Navigation signals, completing positioning calculation by adopting mature algorithms such as a least square method and the like, and obtaining accurate position information and speed information of the unmanned aerial vehicle.

Acquiring the self-flying state information of the unmanned aerial vehicle according to the positioning information frame and a preset flying state algorithm, wherein the self-flying state information of the unmanned aerial vehicle is acquired according to the satellite navigation enhancement information and the preset flying state algorithm, and the self-flying state information of the unmanned aerial vehicle comprises flying speed information, flying height information and flying position information.

And step S300, when detecting that the self flight state information accords with the limitation of the flight limitation information frame, sending alarm information which accords with the flight limitation to a control terminal.

Specifically, according to the flight state information of the unmanned aerial vehicle and the resolved flight restriction information, whether the unmanned aerial vehicle meets the restriction range specified by the flight restriction information or not can be judged. Whether the flight speed of the unmanned aerial vehicle is lower than the highest flight speed specified by the flight limitation information or higher than the lowest flight speed specified by the flight limitation information; whether the unmanned flying height is higher than the lowest flying height specified by the flying limit information or not or whether the unmanned flying height is lower than the highest flying height specified by the flying limit information or not; and whether the position of the unmanned aerial vehicle is out of the range defined by the latitude and longitude of the no-fly zone specified by the flight restriction information or out of the range covered by the no-fly zone identification specified by the flight restriction information.

Work as unmanned aerial vehicle's flying speed, flying height to and unmanned aerial vehicle position accords with during the restriction of flight restriction information, to unmanned aerial vehicle's control terminal sends the alarm information that accords with the flight restriction, just, alarm information includes that flying height accords with the flying height restriction, and flying speed accords with the flying speed restriction, or the position is no flight zone, to control terminal send alarm information, indicate unmanned aerial vehicle's controller to the controller sends corresponding flight control command to unmanned aerial vehicle, controls unmanned aerial vehicle and changes the flight state, until not conforming to the scope of flight restriction information regulation.

The unmanned aerial vehicle utilizes a digital frequency modulation broadcast signal sent by a data broadcast transmitter through a receiving management center to analyze a positioning information frame and a flight limitation information frame carried in the digital frequency modulation broadcast signal, and is used for calculating the flight state information of the unmanned aerial vehicle, comparing the calculated flight state information with the flight limitation information frame, judging whether the flight state information accords with the limitation of the flight limitation information, and if so, sending alarm information according with the flight limitation to a control terminal. According to the unmanned aerial vehicle flight limitation management method based on frequency modulation data broadcasting, a management center utilizes a data broadcasting transmitter to transmit frequency modulation data broadcasting signals, an unmanned aerial vehicle receives and analyzes positioning information and flight limitation information carried in the frequency modulation data broadcasting signals, data frequency modulation broadcasting is adopted as a broadcasting and distributing means of various unmanned aerial vehicle auxiliary and management information such as unmanned aerial vehicle flight limitation information, and the very wide coverage range can be achieved at low cost; meanwhile, the unmanned aerial vehicle management information is distributed without being transmitted through a mobile communication network, so that a large amount of network connection resources are saved, and high data traffic cost for users is avoided; in addition, data propagation speed is fast, and all kinds of unmanned aerial vehicle are supplementary and management information can distribute to unmanned aerial vehicle with real-time mode, have avoided information transfer untimely.

Fig. 7 is a schematic flow chart of a method for managing flight restrictions of an unmanned aerial vehicle based on fm data broadcasting according to another embodiment, where the method for managing flight restrictions of an unmanned aerial vehicle based on fm data broadcasting shown in fig. 7 includes:

the frequency modulation data broadcast signal further comprises a comprehensive information frame, wherein the comprehensive information frame comprises area identification information and network identification information, the area identification information comprises geographical area identification information, and the network identification information comprises identification information of the management center. As shown in fig. 5, the integrated infoframe includes an infocategory representing a data category of a subsequent infoframe; text time, identifying the time of sending the information frame; the region identifier is used for representing the administrative region identifier of the current region and the like; the network identification information (network communication address or domain name, etc.) can be used for representing the coverage verification information of the management center and can be used for data verification of the subsequent information frame.

Step S100a, receiving and demodulating the frequency modulation data broadcast signal sent by the management center, wherein the frequency modulation data broadcast signal comprises a positioning information frame and a flight restriction information frame.

Specifically, step S100 is synchronized.

Step S200a, according to the area identification information, the network identification information and the flight restriction information frame, judging whether the limitation of the flight restriction information frame is met, if the limitation of the flight restriction information frame is met, sending alarm information meeting the flight restriction to the control terminal.

Specifically, according to the area identification information and the network identification information carried in the comprehensive information frame and the flight limitation information in the flight limitation information frame, whether the unmanned aerial vehicle conforms to the specified range of the flight limitation information is preliminarily judged.

The geographical range represented by the area identification information is larger than the geographical range represented by the network identification information, a smaller geographical range is selected to be regarded as a coarser position range where the unmanned aerial vehicle is located, the position range is compared with the flight limitation information in the flight limitation information frame, if the geographical coverage range of the no-fly area in the flight limitation information is larger than the geographical range with the smaller geographical range covered by the identification, the limitation of the no-fly area in the flight limitation information is judged to be met, the alarm information meeting the flight limitation is sent to the control terminal of the unmanned aerial vehicle, and an operator of the unmanned aerial vehicle is prompted to drive away from the area where the unmanned aerial vehicle is located.

And step S300a, if the information frame does not conform to the limit of the flight limit information frame, calculating the flight state information of the aircraft according to the positioning information frame.

Specifically, if the information meets the restriction of the no-fly zone in the flight restriction information through preliminary judgment, the geographic coverage range of the no-fly zone is smaller than that of the identifier, or the three are overlapped, satellite navigation enhancement information needs to be further utilized to position the accurate position information of the unmanned aerial vehicle, the information of the flight speed and the flight height is calculated, and whether the flight speed and the flight height of the unmanned aerial vehicle meet the restriction of the flight restriction information is further judged.

And step S400a, when detecting that the self flight state information accords with the limit of the flight limit information frame, sending alarm information which accords with the flight limit to a control terminal.

Specifically, step S300 is synchronized.

In this embodiment, the fm data broadcast signal carries a comprehensive information frame, where the comprehensive information frame includes area identification information and network identification information, and is used for preliminarily determining whether the unmanned aerial vehicle meets the limitation of the flight restriction information before the unmanned aerial vehicle calculates the flight state information by using the satellite navigation enhancement information, so that the flight restriction calculation workload of the unmanned aerial vehicle is saved, and the speed of the flight restriction determination is increased.

Fig. 8 is a schematic flow chart of a method for managing flight restrictions of an unmanned aerial vehicle based on fm data broadcasting according to another embodiment, where the method for managing flight restrictions of an unmanned aerial vehicle based on fm data broadcasting shown in fig. 8 includes:

step S100b, receiving and demodulating the frequency modulation data broadcast signal sent by the management center, wherein the frequency modulation data broadcast signal comprises a positioning information frame and a flight restriction information frame.

Specifically, step S100 is synchronized.

And step S200b, calculating self flight state information according to the positioning information frame.

Specifically, step S200 is synchronized.

Step S300b, when detecting that the self-flying state information accords with the limit of the flying limit information frame, sending alarm information which accords with the flying limit to the control terminal.

Specifically, step S300 is synchronized.

Step S400b, when detecting that the self-flying state information accords with the limit of the flying limit information frame, sending the alarm information which accords with the flying limit to the control terminal, and adjusting the self-flying state.

Specifically, one or any combination of the flying speed adjustment, the flying height adjustment and the flying area adjustment;

the adjusting the flying height comprises:

the adjusting the flight zone includes:

In this embodiment, after the unmanned aerial vehicle calculates the limit that has met the flight limit information based on the frequency modulation data broadcast signal, the flight state of the unmanned aerial vehicle can be adjusted, so that the management of the whole unmanned aerial vehicle flight limit management system is more perfect.

Fig. 9 is a schematic flowchart of a method for managing flight restrictions of an unmanned aerial vehicle based on fm data broadcasting according to yet another embodiment, where the method for managing flight restrictions of an unmanned aerial vehicle based on fm data broadcasting shown in fig. 9 includes:

and step S10, acquiring satellite navigation signals, self-position information and flight limitation information, wherein the flight limitation information comprises one or any combination of flight speed limitation, flight altitude limitation and flight area limitation.

Step S20, calculating satellite navigation enhancement information according to the self-position information and the satellite navigation signal.

Specifically, the management center obtains GNSS satellite navigation enhancement information including differential corrections of pseudorange, pseudorange rate, and the like of each satellite according to the self-position information and the received GNSS satellite navigation signal by using a principle similar to an AGPS (Assisted-GPS) system. The satellite navigation enhancement information includes UTC (UTC time), Ref Freq (reference frequency), Ref Pos (reference position), Ephemeris (satellite Ephemeris), Pseudorange DC (pseudo-range differential correction).

Step S30, generating a positioning information frame according to the satellite navigation enhancement information and a preset fm data broadcast information frame format, and generating a flight restriction information frame according to the flight restriction information and a preset fm data broadcast information frame format.

Specifically, the fm data broadcast information frame may have different frame structures, and different frame structure formats are adopted according to different contents in the information frame. In step S100 of fig. 6, the frame structures of the positioning information frame and the flight restriction information frame are described separately, and are not described herein again.

And step S40, generating frequency modulation data broadcast signals according to the positioning information frame, the flight limitation information frame and a preset frequency modulation data broadcast signal format.

Specifically, the description is the same as that in step S100 of fig. 6 regarding the format of the fm data broadcast signal.

Step S50, sending the fm data broadcast signal to a data broadcast transmitter, so that the data broadcast transmitter transmits the fm data broadcast signal.

Specifically, as shown in fig. 1, the management center transmits fm data broadcast signals through a data broadcast transmitter.

The unmanned aerial vehicle management center based on frequency modulation data broadcasting utilizes the data broadcasting transmitter to transmit digital frequency modulation broadcasting signals, so that an unmanned aerial vehicle receiving the digital frequency modulation broadcasting signals can calculate the flight state information of the unmanned aerial vehicle by analyzing the positioning information frame and the flight limitation information frame carried in the digital frequency modulation broadcasting signals, and judge whether the unmanned aerial vehicle meets the limitation of the flight limitation information by comparing the calculated flight state information with the flight limitation information frame. The invention adopts data frequency modulation broadcast as the broadcast distribution means of various unmanned aerial vehicle auxiliary and management information such as unmanned aerial vehicle flight restriction information and the like, and can achieve very wide coverage range at lower cost; meanwhile, the unmanned aerial vehicle management information is distributed without being transmitted through a mobile communication network, so that a large amount of network connection resources are saved, and high data traffic cost for users is avoided; in addition, data propagation speed is fast, and all kinds of unmanned aerial vehicle are supplementary and management information can distribute to unmanned aerial vehicle with real-time mode, have avoided information transfer untimely.

Fig. 10 is a schematic structural diagram of an fm data broadcast-based drone according to an embodiment, where the fm data broadcast-based drone shown in fig. 10 includes:

the fm data broadcast signal receiving and demodulating module 100 is configured to receive and demodulate an fm data broadcast signal sent by a management center, where the fm data broadcast signal includes a positioning information frame and a flight restriction information frame; the flight limitation information frame carries flight limitation information, and the flight limitation information comprises one or any combination of flight speed limitation, flight altitude limitation and flight area limitation.

The flight state information calculation module 200 is configured to calculate flight state information of the aircraft according to the positioning information frame; the positioning information frame carries satellite navigation enhancement information; the flight status information calculation module includes: and the satellite positioning calculation unit is used for calculating self flight state information according to the satellite navigation enhancement information, wherein the self flight state information comprises flight speed information, flight height information and flight position information.

And a flight restriction judging module 300, configured to send alarm information meeting the flight restriction to the control terminal when it is detected that the flight state information of the control terminal meets the restriction of the flight restriction information frame.

Fig. 11 is a schematic structural diagram of another embodiment of the fm data broadcast-based drone, where the fm data broadcast-based drone shown in fig. 11 includes:

The frequency modulation data broadcast signal further comprises a comprehensive information frame, wherein the comprehensive information frame comprises area identification information and network identification information, the area identification information comprises geographical area identification information, and the network identification information comprises identification information of the management center.

A flight restriction preliminary judgment module 200a, configured to judge whether the restriction of the flight restriction information frame is met according to the area identification information, the network identification information, and the flight restriction information frame, and if the restriction of the flight restriction information frame is met, send alarm information meeting the flight restriction to the control terminal; and if the information frame does not accord with the limitation of the flight limitation information frame, calculating the flight state information of the positioning information frame.

Fig. 12 is a schematic structural diagram of a drone based on fm data broadcasting according to another embodiment, where the drone based on fm data broadcasting shown in fig. 12 includes:

The flight state information calculation module 200 is configured to calculate flight state information of the aircraft according to the positioning information frame; the positioning information frame carries satellite navigation enhancement information.

And a flight state adjusting module 400, configured to send alarm information meeting the flight restriction to the control terminal when the determination result is that the flight restriction information frame is met, and adjust the flight state of the control terminal.

The flight state adjusting module is used for adjusting one or any combination of the flight speed, the flight height and the flight area; the method comprises the following steps:

In this embodiment, after the unmanned aerial vehicle calculates the limit that has met the flight restriction information based on the frequency modulation data broadcast signal, the flight state of the unmanned aerial vehicle can be adjusted to meet the requirement of the flight restriction information, so that the management of the whole unmanned aerial vehicle flight restriction management system is more perfect.

Fig. 13 is a schematic structural diagram of an embodiment of an fm data broadcast-based drone management center, where the fm data broadcast-based drone management center shown in fig. 13 includes:

the information acquisition module 10 is configured to acquire a satellite navigation signal, self-position information, and flight restriction information, where the flight restriction information includes one or any combination of a flight speed restriction, a flight altitude restriction, and a flight area restriction.

And a satellite navigation enhancement information calculation module 20, configured to calculate satellite navigation enhancement information according to the self-position information and the satellite navigation signal.

An information frame generating module 30, configured to generate a positioning information frame according to the satellite navigation enhancement information and a preset fm data broadcast information frame format, and generate a flight restriction information frame according to the flight restriction information and the preset fm data broadcast information frame format.

And the frequency modulation data broadcast signal generating module 40 is configured to generate a frequency modulation data broadcast signal according to the positioning information frame, the flight restriction information frame, and a preset frequency modulation data broadcast signal format.

A fm data broadcast signal sending module 50, configured to send the fm data broadcast signal to a data broadcast transmitter, so that the data broadcast transmitter sends the fm data broadcast signal.

In one embodiment, the information obtaining module is further configured to obtain area identification information and network identification information where the information obtaining module is located; the information frame generating module is further configured to generate a comprehensive information frame according to the area identification information, the network identification information and a preset frequency modulation data broadcast information frame format; the frequency modulation data broadcast signal generating module is further configured to generate the frequency modulation data broadcast signal according to the integrated information frame, the positioning information frame, the flight restriction information frame, and the frequency modulation data broadcast signal format.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. An unmanned aerial vehicle flight limitation management method based on frequency modulation data broadcasting is characterized by comprising the following steps:

calculating self flight state information according to the satellite navigation enhancement information carried by the positioning information frame and a preset flight state algorithm;

when detecting that the self flight state information accords with the limitation of the flight limitation information frame, sending alarm information which accords with the flight limitation to a control terminal;

the specific frame structure of the positioning information frame comprises UTC time, reference frequency, reference position, satellite ephemeris and pseudo-range differential correction;

the preset flight state algorithm comprises the steps of capturing, tracking and correcting a satellite navigation signal by using the satellite enhanced navigation information, and completing positioning calculation by adopting a least square method;

the self-flying state information comprises flying speed information, flying height information and flying position information.

2. The method for managing flight restrictions of unmanned aerial vehicles based on frequency modulation data broadcasting as claimed in claim 1, wherein:

the flight restriction information frame carries flight restriction information, and the flight restriction information comprises one or any combination of a flight speed restriction, a flight altitude restriction and a flight area restriction.

3. The method for managing flight restrictions of unmanned aerial vehicles based on frequency modulation data broadcasting as claimed in claim 1, wherein:

the frequency modulation data broadcast signal further comprises a comprehensive information frame, wherein the comprehensive information frame comprises area identification information and network identification information, the area identification information comprises geographical area identification information, and the network identification information comprises identification information of the management center;

4. The method of claim 1, further comprising:

5. The method for managing flight restrictions of unmanned aerial vehicle based on frequency modulation data broadcasting as claimed in claim 4, wherein when it is detected that the flight status information of the unmanned aerial vehicle conforms to the restrictions of the flight restriction information frame, the method sends the warning information conforming to the flight restrictions to the control terminal, and simultaneously adjusts the flight status of the unmanned aerial vehicle, comprises:

the adjusting the flying height comprises:

the adjusting the flight zone includes:

6. An unmanned aerial vehicle flight limitation management method based on frequency modulation data broadcasting is characterized by comprising the following steps:

7. An fm data broadcast based drone flight limitation management method according to claim 6, wherein before the step of generating fm data broadcast signals according to the positioning information frame, the flight limitation information frame and a preset fm data broadcast signal format, the method further comprises:

8. An unmanned aerial vehicle based on frequency modulation data broadcasting, its characterized in that includes:

the system comprises a frequency modulation data broadcast signal receiving and demodulating module, a frequency modulation data broadcast signal receiving and demodulating module and a frequency modulation data broadcast signal transmitting module, wherein the frequency modulation data broadcast signal receiving and demodulating module is used for receiving and demodulating a frequency modulation data broadcast signal transmitted by a management center, and the frequency modulation data broadcast signal comprises a positioning information frame and a flight restriction information frame, wherein the specific frame structure of the positioning information frame comprises UTC time, reference frequency, reference position, satellite ephemeris and pseudo-range differential correction;

the flight state information calculation module is used for calculating flight state information of the aircraft according to the satellite navigation enhancement information carried by the positioning information frame and a preset flight state algorithm, wherein the preset flight state algorithm comprises the steps of capturing, tracking and correcting a satellite navigation signal by using the satellite navigation enhancement information and completes positioning calculation by adopting a least square method; the self-flying state information comprises flying speed information, flying height information and flying position information;

9. A frequency modulated data broadcast based drone according to claim 8, characterized in that:

10. A frequency modulated data broadcast based drone according to claim 8, characterized in that:

the unmanned aerial vehicle still includes:

11. A frequency modulated data broadcast based drone according to claim 8, further comprising:

12. A frequency modulated data broadcast based drone according to claim 11, characterized by:

13. The utility model provides an unmanned aerial vehicle management center based on frequency modulation data broadcast which characterized in that includes:

14. A frequency modulated data broadcast based drone management center according to claim 13, wherein:

the information acquisition module is also used for acquiring the area identification information and the network identification information of the information acquisition module;