CN101593437A - A kind of unmanned plane flight collision avoidance method and device - Google Patents
A kind of unmanned plane flight collision avoidance method and device Download PDFInfo
- Publication number
- CN101593437A CN101593437A CNA2009103042005A CN200910304200A CN101593437A CN 101593437 A CN101593437 A CN 101593437A CN A2009103042005 A CNA2009103042005 A CN A2009103042005A CN 200910304200 A CN200910304200 A CN 200910304200A CN 101593437 A CN101593437 A CN 101593437A
- Authority
- CN
- China
- Prior art keywords
- airborne
- unmanned plane
- flight
- aircraft
- voice communication
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Abstract
The invention discloses a kind of unmanned plane flight collision avoidance method and device.This method is that the airborne recognition system of replying is set on unmanned plane, and the airborne recognition system of replying is connected with navigation and flight control on the unmanned plane; The airborne recognition system of replying sends this machine plane No. and flight parameter in real time, inform the position and the flight parameter of ground and other this machine of aircraft, receive the plane No. of other aircraft and the safe distance of flight parameter judgement and other aircraft simultaneously, when the distance of this machine and other aircraft less than safe distance the time, the airborne recognition system of replying is hidden other aircraft automatically by the navigation and flight control of unmanned plane.Its device comprises the airborne recognition system (1) of replying, and the airborne recognition system of replying is connected with navigation and flight control (4) on the unmanned plane.Compared with prior art, the present invention can prevent unmanned plane awing with other plane collision, enlarged the range of application of unmanned plane, also provide advantage for unmanned plane enters the flight of public spatial domain.
Description
Technical field
The present invention relates to a kind of unmanned plane flight collision avoidance method and device, belong to the unmanned spacecraft technical field.
Background technology
Unmanned spacecraft is called for short " unmanned plane ", is the not manned aircraft that utilizes radio robot and the presetting apparatus of providing for oneself to handle.Do not have driving cabin on the machine, but equipment such as navigation and flight control, presetting apparatus are installed.Ground remote control station personnel are by equipment such as radars, to its follow the tracks of, location, remote control, remote measurement and digital transmission.Compare with manned aircraft, it has that volume is little, cost is low, easy to use, to flight environment of vehicle requirement low spot characteristics, therefore can be widely used in airborne remote sensing, meteorological research, agriculture plant seeds by airplane and the prevention and control of plant diseases, pest control, particularly in war, have more special advantage, can be widely used in aerial reconnaissance, supervision, communication, antisubmarine, electronic interferences etc.
At present, the use of unmanned plane only is confined to specific task spatial domain, and its potential effect is far from performance.Along with the further popularization that unmanned plane is used, unmanned plane might enter public spatial domain and commercial airliner and other general-purpose aircrafts and share the spatial domain resource, guarantees that so the flight safety of civil aviaton is just particularly important.The anti-collision technique of flight safety be must take unmanned plane, unmanned plane and other aircraft generation collision accident prevented.Existing unmanned plane is not generally all installed collision avoidance system, can only carry out some particular tasks in addition in public spatial domain, can not enter public spatial domain, can't share the spatial domain resource with commercial airliner and other general-purpose aircrafts.
Summary of the invention
The objective of the invention is to, a kind of unmanned plane flight collision avoidance method and device are provided, with prevent unmanned plane aloft with other plane collision, for entering public spatial domain and commercial airliner and the shared spatial domain of other general-purpose aircrafts resource, unmanned plane provides precondition, for more wide spectrum is opened up in the application of unmanned plane.
Technical scheme of the present invention: a kind of unmanned plane flight collision avoidance method, this method are that the airborne recognition system of replying is set on unmanned plane, and the airborne recognition system of replying is connected with navigation and flight control on the unmanned plane; The airborne recognition system of replying sends this machine plane No. and flight parameter in real time, inform the position and the flight parameter of ground and other this machine of aircraft, receive the plane No. of other aircraft and the safe distance of flight parameter judgement and other aircraft simultaneously, when the distance of this machine and other aircraft less than safe distance the time, the airborne recognition system of replying is hidden other aircraft automatically by the navigation and flight control of unmanned plane.
In the above-mentioned unmanned plane flight collision avoidance method, spatial domain, airborne course line database is set on unmanned plane, stores the spatial domain data that aircarrier aircraft scheduled airline data, spatial domain data that restrict aircraft flies into, course line that this machine is executed the task and this machine of restriction fly out in the database of spatial domain, airborne course line; Spatial domain, airborne course line database for unmanned plane on navigation and flight control use; The navigation and flight control of unmanned plane control unmanned plane is avoided the aircraft on the aircarrier aircraft scheduled airline, the airline operation of executing the task by this machine, and forbid flying into or the spatial domain of the restriction flight that flies out.
In the aforesaid unmanned plane flight collision avoidance method, airborne voice communication system is set on unmanned plane, airborne voice communication system is connected with navigation and flight control on the unmanned plane; Airborne voice communication system is connected with the land station double-direction radio, and airborne voice communication system transmits flight parameter earthward or accepts ground control's rerouting; Land station is provided with the speech equipment corresponding with airborne voice communication system, sends instruction by the ground control personnel and revises aircraft state at any time.
In the aforesaid unmanned plane flight collision avoidance method, described land station comprises commander's terminal and operating terminal, commander's terminal can be arranged on ground, naval vessel or the aircraft, and commander's terminal personnel's speech equipment is by the operating terminal personnel, talking of airborne voice communication system on the unmanned plane and land station; Operating terminal is provided with the speech apparatus that receives and handle the correspondence of the airborne voice communication system information on the unmanned plane, and the voice commands that is sent by the operating terminal personnel sends the speech equipment that unmanned plane is transmitted to commander's terminal personnel again at any time by wireless transmission.
In the aforesaid unmanned plane flight collision avoidance method, airborne recognition system, airborne course line spatial domain database and the airborne voice communication system of replying is set on unmanned plane, airborne recognition system, airborne course line spatial domain database and the airborne voice communication system of replying all is connected with navigation and flight control on the unmanned plane; And land station is set on ground, land station is provided with and the airborne corresponding state of flight reception of recognition system and display device and the speech equipment corresponding with airborne voice communication system of replying, and state of flight receives and display device supplies the ground control personnel to monitor the aircraft state of unmanned plane; Speech equipment carries out Speech Communication for the operating personnel of land station and commander's terminal personnel.
A kind of collision prevention of unmanned plane during flying device comprises the airborne recognition system of replying, and the airborne recognition system of replying is connected with navigation and flight control on the unmanned plane.
In the above-mentioned collision prevention of unmanned plane during flying device, comprise spatial domain, airborne course line database, spatial domain, airborne course line database is connected with navigation and flight control on the unmanned plane.
In the aforesaid collision prevention of unmanned plane during flying device, comprise airborne voice communication system, airborne voice communication system is connected with navigation and flight control on the unmanned plane, and or double-direction radio unidirectional with land station is connected; Land station is provided with speech equipment.
In the aforesaid collision prevention of unmanned plane during flying device, comprise airborne recognition system, airborne course line spatial domain database and the airborne voice communication system of replying; Airborne recognition system, spatial domain, airborne course line database and the airborne voice communication system of replying is connected with navigation and flight control on the unmanned plane respectively; Airborne voice communication system or double-direction radio unidirectional with land station is connected; Land station is provided with state of flight reception and display device and speech equipment.
Compared with prior art, therefore existing unmanned plane can only carry out some specific tasks in public appearance spatial domain in addition owing to there is not collision avoidance system, can not enter public spatial domain.Limited the application of unmanned plane.The present invention has installed collision avoidance system on unmanned plane, can prevent unmanned plane awing with other plane collision, therefore enlarged the range of application of unmanned plane, also provide advantage for unmanned plane enters the flight of public spatial domain.
Description of drawings
Fig. 1 is a structural representation of the present invention.
The airborne recognition system of replying of being labeled as in the accompanying drawing: 1-, spatial domain, the airborne course line of 2-database, the airborne voice communication system of 3-, the 4-navigation and flight control, 5-land station, the 6-state of flight receives and display device, 7-speech equipment.
Embodiment
The present invention is described in further detail below in conjunction with drawings and Examples, but not as the foundation of the present invention being done any restriction.
Embodiment 1, a kind of unmanned plane flight collision avoidance method, and this method is that the airborne recognition system 1 of replying is installed on unmanned plane, the airborne recognition system 1 of replying is connected with navigation and flight control on the unmanned plane.The airborne recognition system 1 of replying sends this machine plane No. and flight parameter in real time, inform the position and the flight parameter of ground and other this machine of aircraft, receive the plane No. and the flight parameter of other aircraft simultaneously, judge safe distance with other aircraft, when the distance of this machine and other aircraft less than safe distance the time, the airborne recognition system 1 of replying is hidden other aircraft automatically by the navigation and flight control 4 of unmanned plane.Airborne reply recognition system both earthward the air traffic control chamber send the blank pipe answering machine signal parameter of civil aviaton's regulation, this signal parameter also can be received by other aircraft simultaneously, can allow other concern and dodge unmanned plane.Include the remote measuring and controlling and the information transmission system in the described navigation and flight control 4.
For example, when unmanned plane flies in public spatial domain, the airborne recognition system 1 of replying on the unmanned plane sends this machine plane No. and flight parameter in real time, just after other manned aircraft of public spatial domain flight receives the signal of unmanned plane, the driver can correctly judge flight course, flying height and the flying speed of unmanned plane, take the measure of effectively dodging, prevent to bump against.Airborne on the unmanned plane replied this machine plane No. and the flight parameter that recognition system 1 sends in real time, also can be sent to ground, is used for the ground staff aircraft state of unmanned plane is monitored.
When unmanned plane during at public spatial domain aircraft, airborne on the unmanned plane replied plane No. and the flight parameter that recognition system 1 also receives other aircraft in real time, when detecting other aircraft (also may be unmanned plane), unmanned plane flies the safe distance scope of nearly this machine (in 25 kilometer range, this safe distance is artificial the setting) time, the airborne recognition system 1 of replying on the unmanned plane reduces or the lifting flying height by navigation and flight control 4, avoids other aircraft; Or the control flying radius spirals at equal altitudes, wait for that other aircraft passes through after, continue to fly by own course line again.
Embodiment 2, spatial domain, airborne course line database is set on unmanned plane, store the spatial domain data that aircarrier aircraft scheduled airline data and restrict aircraft fly in the database of spatial domain, airborne course line, the course line that this machine is executed the task and limit the spatial domain data that this machine flies out and also can be stored in wherein; Spatial domain, airborne course line database uses for the navigation and flight control on the unmanned plane, and to be spatial domain, airborne course line database be connected with navigation and flight control on the unmanned plane typical connected mode; The navigation and flight control of unmanned plane control unmanned plane is avoided the aircraft on the aircarrier aircraft scheduled airline, the airline operation of executing the task by this machine, and forbid flying into or the spatial domain of the restriction flight that flies out.Existing unmanned plane only is provided with the course line that this machine is executed the task, and the invention provides the method for automatic location recognition of a kind of unmanned plane and flight control.
During concrete enforcement, the way point data of the known aircarrier aircraft scheduled airline that civil aviaton is formulated, the spatial domain range data that flies into known restriction is input to spatial domain, the airborne course line database 2 of unmanned plane, the line of flight when simultaneously this machine being executed the task, and the spatial domain range data that flies out of restriction also is input to spatial domain, the airborne course line database 2 of unmanned plane, and the also safe distance in aircarrier aircraft course line of this machine course line of setting, safe distance is artificial the setting, the safe distance generalized case is set to 25 kilometers, and special circumstances are provided with the minimum safe distance of unmanned plane to aircarrier aircraft according to the minor increment greater than civil aviaton's air traffic control laws and regulations requirement.Before unmanned plane is carried out aerial mission,, avoid civil air route as far as possible by the line of flight that the ground staff designs unmanned plane.To the spatial domain that restriction flies into, can the emulation inspection after the predetermined unmanned plane flight-line design, when occurring, the unmanned plane course data is made amendment with the civil air route joining.To the spatial domain that restriction flies out, can the emulation inspection after the predetermined unmanned plane flight-line design, when occurring, the unmanned plane course data is made amendment with the civil air route joining.The unmanned plane flight-line design of interim design was checked not as good as emulation afterwards during to flight, occur in-flight after setting and the restriction spatial domain joining that flies out, unmanned plane is made amendment to course data automatically, discontinuous point is made reasonable numerical fitting to be connected, numerical fitting comprises the match of turning back, the contour match of detouring, and uprise the match of detouring.
Like this, unmanned plane can be avoided the civil air route in spatial domain, the airborne course line database 2 automatically when flight, and in strict accordance with oneself airline operation, when the course line and the airline distance of civil aviaton time of oneself less than safe distance, unmanned plane can be adjusted the course line of oneself automatically by navigation and flight control 4, take to reduce or promote flying height, avoid other course line; Or the control flying radius spirals at equal altitudes, wait for that aircraft on other course line passes through after, continue to fly by own course line again.
Above embodiment 1 and embodiment 2, all be to reply recognition system 1 or spatial domain, airborne course line database 2 cooperates with airborne respectively by the navigation and flight control on the inorganic people 4, automatically avoid that other aircraft prevents to bump against, unmanned plane is not accepted Ground Control awing, but can being set on ground, state of flight receives and display device 6, to monitor the state of flight of unmanned plane.
During concrete enforcement, airborne voice communication system 3 is connected to form by the voice communication device that meets civil aviaton's seaworthiness technical standard and antenna thereof and power cable, is installed on the unmanned plane.Wherein, voice communication device is selected independently station telecommunication system for use, and unmanned plane only provides the interface of special procuring for airborne voice communication system 3, as power supply or switch control.Airborne voice communication system 3 also can be selected the data link communications system with the compound Speech Communication of UAS data with existing chain for use, comprises the data link communications system with compound Speech Communication of sighting distance data chainning or the compound Speech Communication of satellite relay data chainning.Airborne voice communication system 3 can be selected one or more communication for use as required.Be provided with the speech equipment corresponding in land station, send instruction by the ground control personnel and revise aircraft state at any time with airborne voice communication system.Unmanned plane awing, when unmanned plane need be called out in the operations control chamber by civil aviaton, by setting up voice communication connection between unmanned aerial vehicle onboard voice communication system 3 and the ground control station, can coordinate to adjust to the flight of unmanned plane, improve the ability level of unmanned plane during flying anticollision, or unmanned plane is carried out the interim additional modifications operation in course line.Land station comprises commander's terminal and operating terminal, and commander's terminal can be arranged on ground, naval vessel or the aircraft, and commander's terminal personnel's speech equipment is by the operating terminal personnel, talking of airborne voice communication system on the unmanned plane and land station; Operating terminal is provided with the speech apparatus that receives and handle the correspondence of the airborne voice communication system information on the unmanned plane, and the voice commands that is sent by the operating terminal personnel sends the speech equipment that unmanned plane is transmitted to commander's terminal personnel again at any time by wireless transmission.
State of flight receives and display device 6 receives the airborne information of recognition system 1 transmission and the information of reception of replying, and shows by display or various instrument, and light or audible alarm can also be set.Display can show air route with plane or three dimensional constitution, and the real time position of current unmanned plane shown dynamically, the relative position that demonstrates unmanned plane and course line or airspace boundary that can be clear and definite, the position that shows other fellows, can monitor unmanned plane spiral standby situation or adjust the situation of highly flying, be sitting in the sensation of driving cabin as the pilot.Can carry out its Data Update or interim bookbinding by the ground control station remote control to spatial domain, airborne course line database 2.Spatial domain, course line database 2 can change into and being installed on the ground control station during special requirement, and the data chainning by land station and UAS realizes the crashproof function of described flight safety and demonstration or prompt facility.To airborne voice communication system 3, install and unmanned aerial vehicle onboard voice communication device 3 corresponding ground control station voice communication systems in the ground control station, by data distribution to one or more pronunciations with send telephone terminal, realize that ground control station carries out Speech Communication by unmanned aerial vehicle onboard voice communication system and Control Centre of civil aviaton, its voice frequency can be adjusted.
Collision prevention of unmanned plane during flying device of the present invention comprises the airborne recognition system 1 of replying, and the airborne recognition system 1 of replying is connected with navigation and flight control 4 on the unmanned plane.The collision prevention of unmanned plane during flying device can include only spatial domain, airborne course line database 2, and spatial domain, airborne course line database 2 can be produced on the mobile memory medium, and navigation and flight control 4 typical cases on spatial domain, airborne course line database 2 and the unmanned plane are connected.The collision prevention of unmanned plane during flying device also can only airborne voice communication system 3, navigation and flight control 4 typical cases on airborne voice communication system 3 and the unmanned plane are connected, unidirectional or the double-direction radio of airborne voice communication system 3 and land station 5 is connected, and land station 5 is provided with state of flight and receives and display device 6 and speech equipment 7.Land station comprises commander's terminal and operating terminal, and commander's terminal can be arranged on ground, naval vessel or the aircraft, and commander's terminal personnel's speech equipment is by the operating terminal personnel, talking of airborne voice communication system on the unmanned plane and land station; Operating terminal is provided with the speech apparatus that receives and handle the correspondence of the airborne voice communication system information on the unmanned plane, and the voice commands that is sent by the operating terminal personnel sends the speech equipment that unmanned plane is transmitted to commander's terminal personnel again at any time by wireless transmission.
Among the above embodiment, described airborne recognition system, spatial domain, airborne course line database, airborne voice communication system, navigation and flight control, state of flight reception and display device, the speech equipment of replying all adopts existing component end item.
Claims (9)
1. unmanned plane flight collision avoidance method, it is characterized in that: this method is that the airborne recognition system of replying is set on unmanned plane, the airborne recognition system of replying is connected with navigation and flight control on the unmanned plane; The airborne recognition system of replying sends this machine plane No. and flight parameter in real time, inform the position and the flight parameter of ground and other this machine of aircraft, receive the plane No. of other aircraft and the safe distance of flight parameter judgement and other aircraft simultaneously, when the distance of this machine and other aircraft less than safe distance the time, the airborne recognition system of replying is hidden other aircraft automatically by the navigation and flight control of unmanned plane.
2. unmanned plane flight collision avoidance method according to claim 1, it is characterized in that: spatial domain, airborne course line database is set on unmanned plane, stores the spatial domain data that aircarrier aircraft scheduled airline data, spatial domain data that restrict aircraft flies into, course line that this machine is executed the task and this machine of restriction fly out in the database of spatial domain, airborne course line; Spatial domain, airborne course line database for unmanned plane on navigation and flight control use; The navigation and flight control of unmanned plane control unmanned plane is avoided the aircraft on the aircarrier aircraft scheduled airline, the airline operation of executing the task by this machine, and forbid flying into or the spatial domain of the restriction flight that flies out.
3. unmanned plane flight collision avoidance method according to claim 1 and 2 is characterized in that: airborne voice communication system is set on unmanned plane, and airborne voice communication system is connected with navigation and flight control on the unmanned plane; Airborne voice communication system is connected with the land station double-direction radio, and airborne voice communication system transmits flight parameter earthward or accepts ground control's rerouting; Land station is provided with the speech equipment corresponding with airborne voice communication system, sends instruction by the ground control personnel and revises aircraft state at any time.
4. unmanned plane flight collision avoidance method according to claim 3, it is characterized in that: described land station comprises commander's terminal and operating terminal, commander's terminal can be arranged on ground, naval vessel or the aircraft, and commander's terminal personnel's speech equipment is by the operating terminal personnel, talking of airborne voice communication system on the unmanned plane and land station; Operating terminal is provided with the speech apparatus that receives and handle the correspondence of the airborne voice communication system information on the unmanned plane, and the voice commands that is sent by the operating terminal personnel sends the speech equipment that unmanned plane is transmitted to commander's terminal personnel again at any time by wireless transmission.
5. unmanned plane flight collision avoidance method according to claim 4, it is characterized in that: airborne recognition system, airborne course line spatial domain database and the airborne voice communication system of replying is set on unmanned plane, airborne recognition system, airborne course line spatial domain database and the airborne voice communication system of replying all is connected with navigation and flight control on the unmanned plane; And land station is set on ground, land station is provided with and the airborne corresponding state of flight reception of recognition system and display device and the speech equipment corresponding with airborne voice communication system of replying, and state of flight receives and display device supplies the ground control personnel to monitor the aircraft state of unmanned plane; Speech equipment carries out Speech Communication for the operating personnel of land station and commander's terminal personnel.
6. collision prevention of unmanned plane during flying device is characterized in that: comprise the airborne recognition system (1) of replying, the airborne recognition system (1) of replying is connected with navigation and flight control (4) on the unmanned plane.
7. collision prevention of unmanned plane during flying device according to claim 6 is characterized in that: comprise spatial domain, airborne course line database (2), spatial domain, airborne course line database (2) is connected with navigation and flight control (4) on the unmanned plane.
8. according to claim 6 or 7 described collision prevention of unmanned plane during flying devices, it is characterized in that: comprise airborne voice communication system (3), airborne voice communication system (3) is connected with navigation and flight control (4) on the unmanned plane, and or double-direction radio unidirectional with land station (5) is connected; Land station (5) is provided with speech equipment (7).
9. collision prevention of unmanned plane during flying device according to claim 8 is characterized in that: comprise airborne recognition system (1), spatial domain, airborne course line database (2) and the airborne voice communication system (3) of replying; Airborne recognition system (1), spatial domain, airborne course line database (2) and the airborne voice communication system (3) of replying is connected with navigation and flight control (4) on the unmanned plane respectively; Airborne voice communication system (3) or double-direction radio unidirectional with land station (5) is connected; Land station (5) is provided with state of flight and receives and display device (6) and speech equipment (7).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2009103042005A CN101593437A (en) | 2009-07-10 | 2009-07-10 | A kind of unmanned plane flight collision avoidance method and device |
| CN2009103066508A CN101714300B (en) | 2009-07-10 | 2009-09-07 | Unmanned plane flight collision avoidance method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2009103042005A CN101593437A (en) | 2009-07-10 | 2009-07-10 | A kind of unmanned plane flight collision avoidance method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101593437A true CN101593437A (en) | 2009-12-02 |
Family
ID=41408072
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2009103042005A Pending CN101593437A (en) | 2009-07-10 | 2009-07-10 | A kind of unmanned plane flight collision avoidance method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101593437A (en) |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102055538A (en) * | 2010-11-25 | 2011-05-11 | 南京恩瑞特实业有限公司 | Self-detection method for unifrequency source of traffic collision avoidance system simulator |
| CN103700287A (en) * | 2012-09-27 | 2014-04-02 | 霍尼韦尔国际公司 | Systems and methods for performing vehicle collision-avoidance warning via sensor pulse |
| CN105448137A (en) * | 2014-07-31 | 2016-03-30 | 深圳市大疆创新科技有限公司 | Aircraft and control method thereof and intelligent management system and method of aircraft |
| CN105680930A (en) * | 2016-01-28 | 2016-06-15 | 中国人民解放军空军装备研究院航空装备研究所 | Method for transmitting emergency state of airplane in real time through voice radio |
| CN105739520A (en) * | 2016-01-29 | 2016-07-06 | 余江 | Unmanned aerial vehicle identification system and identification method thereof |
| CN105957404A (en) * | 2016-05-09 | 2016-09-21 | 丁元沅 | Airborne autonomous scheduling system and airborne autonomous scheduling method under unmanned aerial vehicle and manned aircraft coexistence environment |
| WO2016154948A1 (en) * | 2015-03-31 | 2016-10-06 | SZ DJI Technology Co., Ltd. | Authentication systems and methods for identification of authorized participants |
| CN106155089A (en) * | 2016-08-23 | 2016-11-23 | 成都翼高九天科技有限公司 | A kind of unmanned aerial vehicle ground control system based on wireless telecommunications |
| CN106796761A (en) * | 2014-09-30 | 2017-05-31 | 深圳市大疆创新科技有限公司 | System and method for supporting simulation mobile |
| WO2017107027A1 (en) * | 2015-12-21 | 2017-06-29 | SZ DJI Technology Co., Ltd. | Targeted flight restricted regions |
| CN107229283A (en) * | 2016-03-24 | 2017-10-03 | 深圳市创翼睿翔天空科技有限公司 | Unmanned plane spatial domain security isolation system and method |
| US9792613B2 (en) | 2015-03-31 | 2017-10-17 | SZ DJI Technology Co., Ltd | Authentication systems and methods for generating flight regulations |
| CN107610533A (en) * | 2017-10-09 | 2018-01-19 | 深圳市道通科技股份有限公司 | A kind of method and apparatus for monitoring unmanned plane |
| CN107943091A (en) * | 2017-12-25 | 2018-04-20 | 顺丰科技有限公司 | A kind of unmanned plane preventing collision method, control terminal, communication ends, actuating station and system |
| CN108028024A (en) * | 2015-12-28 | 2018-05-11 | Kddi株式会社 | Flyer control device, clearance spatial domain initialization system, flyer control method and program |
| CN108525316A (en) * | 2018-06-13 | 2018-09-14 | 酷黑科技（北京）有限公司 | The method of autonomous flight system and control autonomous flight system |
| CN108766036A (en) * | 2018-05-30 | 2018-11-06 | 中国航空无线电电子研究所 | Airborne taxiway and runway visualization guiding and alarm device |
| CN108877298A (en) * | 2018-07-25 | 2018-11-23 | 哈尔滨工业大学 | It is a kind of based on four-dimensional track operation flight planning safety judge method for early warning |
| CN109444876A (en) * | 2018-12-13 | 2019-03-08 | 广州极飞科技有限公司 | Operating equipment and its method of adjustment and device |
| US10274595B2 (en) | 2012-05-30 | 2019-04-30 | Honeywell International Inc. | Systems and methods for performing vehicle collision-avoidance warning via sensor pulse |
| US11094202B2 (en) | 2015-03-31 | 2021-08-17 | SZ DJI Technology Co., Ltd. | Systems and methods for geo-fencing device communications |
| US11276325B2 (en) | 2014-09-30 | 2022-03-15 | SZ DJI Technology Co., Ltd. | Systems and methods for flight simulation |
-
2009
- 2009-07-10 CN CNA2009103042005A patent/CN101593437A/en active Pending
Cited By (41)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102055538B (en) * | 2010-11-25 | 2013-01-23 | 南京恩瑞特实业有限公司 | Self-detection method for unifrequency source of traffic collision avoidance system simulator |
| CN102055538A (en) * | 2010-11-25 | 2011-05-11 | 南京恩瑞特实业有限公司 | Self-detection method for unifrequency source of traffic collision avoidance system simulator |
| US10274595B2 (en) | 2012-05-30 | 2019-04-30 | Honeywell International Inc. | Systems and methods for performing vehicle collision-avoidance warning via sensor pulse |
| CN103700287A (en) * | 2012-09-27 | 2014-04-02 | 霍尼韦尔国际公司 | Systems and methods for performing vehicle collision-avoidance warning via sensor pulse |
| US10451725B2 (en) | 2012-09-27 | 2019-10-22 | Honeywell International Inc. | Systems and methods for performing vehicle collision-avoidance warning via sensor pulse |
| CN103700287B (en) * | 2012-09-27 | 2018-01-23 | 霍尼韦尔国际公司 | The system and method that vehicles anticollision warning is performed by sensor pulse |
| CN105448137B (en) * | 2014-07-31 | 2019-03-08 | 深圳市大疆创新科技有限公司 | Aircraft and its control method, the intelligent management system of aircraft and method |
| CN105448137A (en) * | 2014-07-31 | 2016-03-30 | 深圳市大疆创新科技有限公司 | Aircraft and control method thereof and intelligent management system and method of aircraft |
| US11276325B2 (en) | 2014-09-30 | 2022-03-15 | SZ DJI Technology Co., Ltd. | Systems and methods for flight simulation |
| US11217112B2 (en) | 2014-09-30 | 2022-01-04 | SZ DJI Technology Co., Ltd. | System and method for supporting simulated movement |
| CN106796761A (en) * | 2014-09-30 | 2017-05-31 | 深圳市大疆创新科技有限公司 | System and method for supporting simulation mobile |
| US9870566B2 (en) | 2015-03-31 | 2018-01-16 | SZ DJI Technology Co., Ltd | Authentication systems and methods for generating flight regulations |
| US9792613B2 (en) | 2015-03-31 | 2017-10-17 | SZ DJI Technology Co., Ltd | Authentication systems and methods for generating flight regulations |
| US9805607B2 (en) | 2015-03-31 | 2017-10-31 | SZ DJI Technology Co., Ltd. | Authentication systems and methods for generating flight regulations |
| US9805372B2 (en) | 2015-03-31 | 2017-10-31 | SZ DJI Technology Co., Ltd | Authentication systems and methods for generating flight regulations |
| US11120456B2 (en) | 2015-03-31 | 2021-09-14 | SZ DJI Technology Co., Ltd. | Authentication systems and methods for generating flight regulations |
| US11094202B2 (en) | 2015-03-31 | 2021-08-17 | SZ DJI Technology Co., Ltd. | Systems and methods for geo-fencing device communications |
| WO2016154948A1 (en) * | 2015-03-31 | 2016-10-06 | SZ DJI Technology Co., Ltd. | Authentication systems and methods for identification of authorized participants |
| US11367081B2 (en) | 2015-03-31 | 2022-06-21 | SZ DJI Technology Co., Ltd. | Authentication systems and methods for generating flight regulations |
| US11961093B2 (en) | 2015-03-31 | 2024-04-16 | SZ DJI Technology Co., Ltd. | Authentication systems and methods for generating flight regulations |
| WO2017107027A1 (en) * | 2015-12-21 | 2017-06-29 | SZ DJI Technology Co., Ltd. | Targeted flight restricted regions |
| US10720067B2 (en) | 2015-12-28 | 2020-07-21 | Kddi Corporation | Unmanned flight vehicle having rotor, motor rotating the rotor and control device |
| CN108028024A (en) * | 2015-12-28 | 2018-05-11 | Kddi株式会社 | Flyer control device, clearance spatial domain initialization system, flyer control method and program |
| US11373541B2 (en) | 2015-12-28 | 2022-06-28 | Kddi Corporation | Flight permitted airspace setting device and method |
| CN105680930B (en) * | 2016-01-28 | 2018-08-17 | 中国人民解放军空军装备研究院航空装备研究所 | A method of passing through speech radio station real-time Transmission airplane emergency state |
| CN105680930A (en) * | 2016-01-28 | 2016-06-15 | 中国人民解放军空军装备研究院航空装备研究所 | Method for transmitting emergency state of airplane in real time through voice radio |
| CN105739520B (en) * | 2016-01-29 | 2019-10-08 | 余江 | A kind of unmanned vehicle identifying system and its recognition methods |
| CN105739520A (en) * | 2016-01-29 | 2016-07-06 | 余江 | Unmanned aerial vehicle identification system and identification method thereof |
| CN107229283B (en) * | 2016-03-24 | 2023-09-15 | 广东泰一高新技术发展有限公司 | Unmanned aerial vehicle airspace safety isolation system and method |
| CN107229283A (en) * | 2016-03-24 | 2017-10-03 | 深圳市创翼睿翔天空科技有限公司 | Unmanned plane spatial domain security isolation system and method |
| CN105957404B (en) * | 2016-05-09 | 2018-10-26 | 丁元沅 | Unmanned plane and airborne Autonomous Scheduling system and method under man-carrying aircraft's coexisted environment |
| CN105957404A (en) * | 2016-05-09 | 2016-09-21 | 丁元沅 | Airborne autonomous scheduling system and airborne autonomous scheduling method under unmanned aerial vehicle and manned aircraft coexistence environment |
| CN106155089A (en) * | 2016-08-23 | 2016-11-23 | 成都翼高九天科技有限公司 | A kind of unmanned aerial vehicle ground control system based on wireless telecommunications |
| CN107610533B (en) * | 2017-10-09 | 2021-01-26 | 深圳市道通智能航空技术有限公司 | Method and device for monitoring unmanned aerial vehicle |
| CN107610533A (en) * | 2017-10-09 | 2018-01-19 | 深圳市道通科技股份有限公司 | A kind of method and apparatus for monitoring unmanned plane |
| CN107943091A (en) * | 2017-12-25 | 2018-04-20 | 顺丰科技有限公司 | A kind of unmanned plane preventing collision method, control terminal, communication ends, actuating station and system |
| CN108766036A (en) * | 2018-05-30 | 2018-11-06 | 中国航空无线电电子研究所 | Airborne taxiway and runway visualization guiding and alarm device |
| CN108525316A (en) * | 2018-06-13 | 2018-09-14 | 酷黑科技（北京）有限公司 | The method of autonomous flight system and control autonomous flight system |
| CN108877298B (en) * | 2018-07-25 | 2021-03-30 | 哈尔滨工业大学 | Flight plan safety judgment and early warning method based on four-dimensional track operation |
| CN108877298A (en) * | 2018-07-25 | 2018-11-23 | 哈尔滨工业大学 | It is a kind of based on four-dimensional track operation flight planning safety judge method for early warning |
| CN109444876A (en) * | 2018-12-13 | 2019-03-08 | 广州极飞科技有限公司 | Operating equipment and its method of adjustment and device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101593437A (en) | A kind of unmanned plane flight collision avoidance method and device | |
| CN101714300B (en) | Unmanned plane flight collision avoidance method and device | |
| CN201655045U (en) | Unmanned aerial vehicle (UAV) flight anticollision device | |
| Nalepka et al. | Automated aerial refueling: extending the effectiveness of UAVs | |
| US9401758B2 (en) | Unmanned air vehicle with autonomous air traffic control communications capability | |
| US8437956B2 (en) | Unmanned aerial system position reporting system and related methods | |
| US8380367B2 (en) | Adaptive surveillance and guidance system for vehicle collision avoidance and interception | |
| US20080065275A1 (en) | Method and system for controlling manned and unmanned aircraft using speech recognition tools | |
| EP3333591B1 (en) | Aircraft radar system for bird and bat strike avoidance | |
| CN103646569A (en) | General aviation low-altitude monitor and service system | |
| US20200287619A1 (en) | System and method for controlling a pilotless device | |
| CN109727493A (en) | Based on the unmanned plane monitoring system of integrated answering machine and its response, ADS-B OUT/IN method | |
| WO2009139937A2 (en) | Unmanned aerial system position reporting system and related methods | |
| RU100836U1 (en) | COMPLEX OF CONTROL AND CONTROL FOR SELF-DRIVING ON LOCAL AIRLINES ON THE BASIS OF MODERN TECHNOLOGIES | |
| Torun | UAV Requirements and design consideration | |
| Peinecke et al. | Minimum risk low altitude airspace integration for larger cargo UAS | |
| Pahsa et al. | Integrating navigation & surveillance of Unmanned Air Vehicles into the civilian national airspaces by using ADS-B applications | |
| Rymer et al. | Demonstration of two extended visual line of sight methods for urban UAV operations | |
| Martel et al. | Flight testing of an ADS-B-based miniature 4D sense and avoid system for small UAS | |
| Kunze et al. | Concept for a Geo-Awareness-System for Civilian Unmanned Aerial Systems | |
| Vecchione et al. | FLARE: An OPA for technology validation used at the Italian aerospace research center | |
| Ali et al. | An assessment of frameworks for heterogeneous aircraft operations in low-altitude airspace | |
| Donkels et al. | An Approach for Integration of Transport Drones into Offshore Wind Farms | |
| Balmus | Avionics and ATC Technology for Mission Control | |
| Cotton | Adaptive Airborne Separation to Enable UAM Autonomy in Mixed Airspace |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |